September.2020
GSK-N7 Controller Instruction Manual
GIken Industrial Co.,Ltd
1
Before bigening operation
Caution
■Note
(1)Please read this instruction manual carefully in order to ensure that you use this product correctly.
(2)Part or all of this instruction manual may not be used or required without permission of Giken Industrial Co.,Ltd.
(3)Please consider that handling and operation which are not described in this manual can not be performed.
And please do not do such handling or operation.
In addition, problems that occur as a result of handling and operations not described
in this instruction manual are excluded from the scope of warranty.
(4)The information in this instruction manual is subject to change without notice for improvement.
(5)Special products may not match this specification.
Please consult separately.
(6) Setting PC is optional.
Please contact us if necessary.
Caution
■Measures in case of emergency
If this product is in a dangerous condition, immediately turn off all power switches of the main unit
or the connected equipment, or pull out all power cords from the plug outlets.
("Dangerous condition" means a condition where a fire or danger to the body is expected due
to abnormal heat, smoke or fire.)
2
Caution
■Cautions at first power on
1.Please check that the cable connection is correct before turning on the power. (Visual check)
2.Please attach a termination resistor (110 Ω) in the communication connector (COM port)
of the GSK driver at the end.
However, it is not necessary when using with only one axis.
3.The GSK controller needs to recognize the axis number.
In the 7SEG panel, please set the axis number of 1 axis side with “d00177” and the axis number of 2 axis side
with “d10177”.
(If the axis number is not set, communication from the setting PC can not be performed.)
※ When replacing the controller, it is sure to set.
4.After power on, you should check the wiring using the variation of the following address values.
The torque sensor output value on the 1st axis side can be confirmed by “d00210”.
The torque sensor output value on the 2nd axis side can be confirmed with "d10210".
The current position of the encoder (resolver) on the 1st axis can be checked with "d02003".
The current position of the encoder (resolver) on the 2nd axis can be checked with "d12003".
(Electrical check)
5.In order to confirm the zero point of the torque sensor, you confirm the measured value of the zero point
of each axis with “d00210” and “d10210”.
In addition, it is possible to adjust the zero point by using setting software.
6.After completing the above, please enter settings etc.
3
INDEX 1. System outline ........................................................................................................................................... 5 2. Specifications ............................................................................................................................................ 7
2-1 Specifications of controller ................................................................................................................................... 7 2-2 Basic specifications ............................................................................................................................................... 9 2-3 Function and characteristics ................................................................................................................................ 12 2-4 Dimension ........................................................................................................................................................... 13
2-4-1 Interface dimensions: Standard specification・・・GSK-IF-N7 .......................................................... 13 2-4-2 Dimension drawing: standard specification・・・GSKW-1(T)4-E(1)-N7........................................... 14 2-4-3 Dimension drawing: standard specification・・・GSK-15(17)-E(1)-N7 ....................................... 15 2-4-4 Dimension drawing: T type specification・・・GSK-T5(T7)-E (1)-N7 ......................................... 16 2-4-5 Dimension drawing: standard specification・・・GSKW-15-E (1)-N7 ............................................... 17 2-4-6 Dimension drawing: T type specification・・・GSKW-T5-E (1)-N7 ................................................. 18 2-4-7 Dimension drawing(Display): type・・・ GSK-D2-N7 .................................................................. 18
3. Wire connection ...................................................................................................................................... 20 3-1 Connection reference drawing ............................................................................................................................ 20
3-1-1 GSKW System connection reference diagram ......................................................................................... 20 3-1-2 GSK System connection reference diagram ............................................................................................. 21
3-2 Used connector and mating connector .................................................................................................................. 22 3-2-1 GSK Used connector and mating connector ........................................................................................... 22 3-2-2 Communication port details owned by the interface .............................................................................. 23
3-3 External connection ............................................................................................................................................. 24 3-3-1 External connection diagram (between GSK and NR) : Driver amplifier of standard
specification and T specification .................................................................................................................................... 24 3-3-2 External connection diagram (interface~connected device):Interface ................................................. 25
3-4 Cable model list .................................................................................................................................................. 26 3-4-1 GSK cable model list .............................................................................................................................. 26
4. Signal ....................................................................................................................................................... 29 4-1 Type of input / output signal ............................................................................................................................... 29 4-2 Input/Output signal ............................................................................................................................................. 30
4-2-1 Input signal .............................................................................................................................................. 30 4-2-2 Output signal ........................................................................................................................................... 32
4-3 Input / Output signal map ................................................................................................................................... 36 4-4 Select a sequencer ................................................................................................................................................. 38
4-4-1 Anybus board setting method ................................................................................................................... 38 5. Operation timing chart ............................................................................................................................ 39
5-1 Power on and inching operation ........................................................................................................................... 39 5-2 Program operation - 2 step operation 1 ................................................................................................................. 40 5-3 Program operation - 2 step operation 2 ................................................................................................................. 41 5-4 Program operation - 2 step operation 3 ................................................................................................................. 42 5-5 Program operation - 1 step operation 1 ................................................................................................................. 43 5-6 Program operation - 1 step operation 2 ............................................................................................................... 44 5-7 Program operation - 2 step operation 4 ................................................................................................................. 45 5-8 Program operation - 1 step operation 3 ................................................................................................................. 46 5-9 Interruption of program operation (reset) ............................................................................................................. 47 5-10 Operation ready OFF and Start OFF at Program operation .............................................................................. 48 5-11 Alarm output and alarm reset during program operation ................................................................................. 49 5-12 Tightening angle sampling operation ............................................................................................................... 50
6. Setting ..................................................................................................................................................... 51 6-1 Display / setting function ...................................................................................................................................... 51
6-1-1 About the viewpoint of the display ........................................................................................................... 51 6-1-2 Operation the display unit ......................................................................................................................... 52 6-1-3 Setting example ......................................................................................................................................... 53 ※Procedure of setting axis number ................................................................................................................................ 53 ※Procedure to erase the 7 segment display of W type unused axis .............................................................................. 55 ※Procedure of changed tightening sampling stop torque .............................................................................................. 56 ※Procedure to change overload alarm threshold ........................................................................................................... 57
6-2 Program configuration .......................................................................................................................................... 60 7. Setting function details ........................................................................................................................... 61
4
7-1 Fn.** display setting function list ....................................................................................................................... 61 7-2(d-00***, d-10***)Driver parameter setting for each axis ............................................................................... 62 7-3 SOC.T setting ........................................................................................................................................................ 64 7-4 PRE.T setting ........................................................................................................................................................ 65 7-5 REV.T setting ........................................................................................................................................................ 67 7-6 REA.T setting ........................................................................................................................................................ 68 7-7 Rate setting ............................................................................................................................................................ 73 7-8 X-axis rate setting ............................................................................................................................................... 75 7-9 Y-axis rate setting .............................................................................................................................................. 76 7-10 Point seting ........................................................................................................................................................ 77 7-11 (Fn.01)Tightening result monitor of 1st axis .................................................................................... 78 7-12 (Fn.02)Tightening result monitor of the 2nd axis............................................................................. 78 7-13 (Fn.03)Input / output monitor ........................................................................................................... 80 7-14 (Fn.04)Operation instruction from GSK controller .......................................................................... 82 7-15 (Fn.05)Unit setting ............................................................................................................................ 82 7-16 (Fn.06)Interface unit setting ............................................................................................................. 83 7-17 (Fn.07)ID connection setting .......................................................................................................... 86 7-18 About Z axis setting .......................................................................................................................................... 88
7-18-1 Coordinate setting of Z axis ................................................................................................................ 88 7-18-2 Z axis rate setting .................................................................................................................................. 89
8. Supplementary explanation ..................................................................................................................... 90 8-1 Motion assist function ........................................................................................................................................... 90 8-2 Driver function ...................................................................................................................................................... 90
9. Monitor output ........................................................................................................................................ 91 10. Code Table .......................................................................................................................................... 92
10-1 NG code list ................................................................................................................................................... 92 10-2 Alarm Code List ................................................................................................................................................ 94
10-2-1 Interface alarm ...................................................................................................................................... 94 10-2-2 Interface alarm details ........................................................................................................................... 95 10-2-3 Alarm generated in the GSK driver (E**) .......................................................................................... 100
11. Indication of display.......................................................................................................................... 103 12. Maintenance and inspection .............................................................................................................. 110
12-1 Notes ............................................................................................................................................................. 111 12-1-1 Maintenance and Inspection Precautions .......................................................................................... 111 12-1-2 Inspection items ................................................................................................................................ 111 12-1-3 lifespan .............................................................................................................................................. 111 12-1-4 Capacitor ........................................................................................................................................... 111 12-1-5 Relay ................................................................................................................................................. 111 12-1-6 Cooling fan ........................................................................................................................................ 112 12-1-7 Battery ............................................................................................................................................... 112 12-1-8 E2PROM ........................................................................................................................................... 112
12-2 Warranty ........................................................................................................................................................ 112 12-3 Tightening operation glossary ....................................................................................................................... 112
Supplemental explanation ........................................................................................................................... 114 About GSK additional functions ................................................................................................................. 115
①Area judgment ............................................................................................................................................................... 115 ②Smooth tightening ......................................................................................................................................................... 115 ③Function to connect with EtherNet (FTP transfer) ....................................................................................................... 115 ④S-shaped control ............................................................................................................................................................ 115 ⑤Z axis pressing control .................................................................................................................................................. 115 ⑥SD card .......................................................................................................................................................................... 116
Predictive maintenance function ................................................................................................................. 119 ①Outline of Predictive Maintenance ............................................................................................................................... 119
Flow to alarm notification ............................................................................................................................................. 119 ②GSK controller Electronic component lifetime warning .............................................................................................. 120 ③Nut runner failure prediction warning .......................................................................................................................... 121
Change log .................................................................................................................................................. 128
5
1. System outline ・“GSK Nut runner System” is the torque control type nut runner system what has the function necessary to tightening
of the screw and locating.
・This system has the name specified as GSK and it is classified into driver amplifier, interface unit and AC nutrunner..
Driver amplifer section ・Tightening accuracy :3σ±2%
・GSK series improved a conventional GSS series, that was realized downsized, model integration
and processing speed Improvement by the capacity rise of CPU and a memory.
・The control of rotation speed and torque can be set by program, and various tightening patterns can be easily performed.
・The combination of position control and torque control enables high-speed and high-precision tightening control.
・The program No., operation status, alarm information etc. are displayed on the front panel
by the self-diagnosis function.
・There are three ways to set the tightening program: setting PC, dedicated display, and input from the front panel.
・As it is equipped with automatic setting input function, even beginners can easily input settings.
Interface unit section ・An interface unit is a communication device with an external unit such as a sequencer, display, setting PC, or printer.
・By connecting a personal computer to the interface unit, the GSK system can check information related
to tightening control such as setting data and tightening results.
・By connecting a printer, you can check data such as settings and tightening results without connecting it to a PC.
・The communication setting can correspond to both specifications of parallel IO and serial IO.
・One interface unit is always required for each system.
(Use one interface unit for every 16 axes if there is a positioning unit, 30 axes for none.)
6
AC Nut runner section ・As with the conventional GSS series, ANZM-type nutrunners can be used continuously.
<Specification of nut runner>
Nut runner
model
Maximum
tightening
torque
[N・m]
Maximum
rotational
speed
[rpm]
Power
supply
current
[A rms]
Motor model Weight
[kg] Censor model
ANZM-250 20 310 0.8 TS4603N1920E203 1.6 AZM-350
ANZM-350 30 430 1.5 TS4617N1920E203 1.9 AZM-350
ANZM-500 45 310 1.5 TS4617N1920E203 1.9 AZM-500
ANZM-850 80 420 2.8 TS4609N1920E203 3.9 AZM-850
ANZM-1600 140 420 4.0 TS4618N1922E203 5.0 AZM-1500
ANZM-2000 180 290 4.0 TS4618N1922E203 6.8 AZM-2500
ANZM-3000 280 235 6.0 TS4619N1920E203 9.0 AZM-4000
ANZM-5000 470 253 6.5 TS4619N1926E207 10.5 AZM-7500
ANZM-7000 650 176 6.5 TS4619N1926E207 10.5 AZM-7500
ANZM-9000 850 131 6.5 TS4619N1926E207 11.5 AZM-12000
The maximum tightening torque is the output value at a speed of 20 rpm.
(The dimensions etc. of the nutrunner are published in the catalog etc. Please inquire for details)
7
2. Specifications 2-1 Specifications of controller
Composition
Interface unit
Standard type(M-net communication)
The other communication methods
(IO board, CC-link, Device net, Pro-Fi net, etc)
Driver amplifer
Single standard type(GSK)3 kinds,
Single T type(GSK)3 kinds,
2 axis standard type(GSKW)2kinds,
2 axis T type(GSKW)2kinds
Data
DATA transmit / receive
function (PC) USB communication
Other unit control Arc-Net
DATA control (PC) RS422,SD card
DATA saving Tightening data: about 5000 cases
When IF is connected, It can output from a PC.
Printer conection Connect to IF unit or PC
Max axis number
for connection It can control up to 30 axes
Display DATA display 6-digits 7SEG.LED
Extraordinary display AL code indicate + NG code indicate
Indicator Display
OK / NG
Axis arrangement (60 screws can be displayed)
Tightening setting
Setting
Setting input method Personal computer and the controller front panel, disply panel
Memory backup E2PROM,FRAM
Setting value backup SD card, PC⇒FD,HD
Dimension
Interface unit 44×226×171.6
Driver unit
GSK(GSKW)-14(T4)
-E(E1,R)-N7
59(65)×238×170.5
Driver unit
GSK-17[15](T5,T7)
–E(E1,R)-N7
116.5(65.5)[86.5]×226×171.6(211.6)
() Inside dimensions are back fin type
[] Inside dimension is side fin type
※Both models in () and [] have no fans
Driver unit
GSKW-15(T5)
–E(E1,R)-N7
160.5(109.5)×226×171.6(211.6)
() Inside dimensions are back fin type
Display GSK-D2-N7
182.5×138.8×57.3
Please attach in consideration of the protruding part
of the connector
Tightening setting
Axis number ・30 axes x 16 programs x 220 steps
・30 axes x 50 programs x 70 steps
・8 axes x 50 programs x 220 steps
Maximum values are different depending
on the combination
Program number
Step number
Setting items
T:Rating 30kinds
H:REA.T SET, K:PRE.T SET, G:REV.T SET S:SCC.T SET,
screw number setting Each 24kinds
Tightening
method
Torque method, time
and angle monitor "Zone Monitoring" function exists
Angle method, time monitor "Gradient judgment" function exists
Tightening control
Sequencing tightening
(Blocktightening) Up to 19 blocks: Maximum block amount per axis in program
Retry Whether or not set for each program
Baking determination Reverse torque, judgement of area size
Quantitative reversal Time and angle
Speed switching 4-step, angle management
and stepless shifting (smoothing) function
Accuracy Torque waveform Disply,all axis indication or personal computer
8
Angle stop accuracy Within +0.5°(30rpm or less)
Angle display minimum unit 0.1°
Tightening accuracy 3σ±2% or less
Connection Connection cable Standard type and T-tyap: connectingmethod
Controller
power supply
Rated current
GSK-IF-N7: 0.2A(通信規格による変動は無)
GSK-14(T4)-E(E1、R)-N7 : 0.2A
GSKW-14(T4)-E(E1、R)-N7 : 0.2A
GSK-15(T5)-E(E1、R)-N7 : 0.3A
GSKW-15(T5)-E(E1、R)-N7 : 0.4A
GSK-17(T7)-E(E1、R)-N7 : 0.3A
Startup inrush current
GSK-IF-N7 : 5.0A
GSK-14(T4-E(E1、R)-N7) : 5.0A
GSKW-14(T4-E(E1、R)-N7) : 5.0A
GSK-15(T5-E(E1、R)-N7) : 5.0A
GSKW-15(T5) -E(E1、R)-N7 : 5.0A
GSK-17(T7) -E(E1、R)-N7 : 5.0A
Other
Zero-point setting Automatic correction (with tolerance setting)
Axis disable function It can be set from PC or front panel.
※ This function can not be used when using positioning mode.
Other unit communication Arc-Net
Setting input USB communication
Communication with PLC Serial I/O (M-NET, CC-Link, and etc) or Parallel I/O
Connection with display it is connected to IF unit
9
2-2 Basic specifications Standard
specification
model
(GSK)
GSK-14-E-N7 GSK-15-E-N7 GSK-17-E-N7
Standard
specification
model
(GSKW)
GSKW-14-E-N7 GSKW-15-E-N7
T specification
model
(GSK)
GSK-T4-E-N7 GSK-T5-E-N7 GSK-T7-E-N7
T specification
model
(GSKW)
GSKW-T4-E-N7 GSKW-T5-E-N7
Fieldbus Anybus
Corresponding
standard
M-NET
(Standard)
CC-
LINK
Device-
NET
PROFI-
NET-I/O
PROFI-
NET-IRT
FL-
NET
Ether-
NET
System
GSK
I/F model GSK-IF-N7
GSK-
IFCC-
N7
GSK-
IFDN-N7
GSK-
IFPNIO-N7
GSK-
IFPNIRT-
N7
GSK-
IFFL-
N7
GSK-
IFET-N7
GSK-
IFSG-N7
Control
power input DC24V±10% 1.0Amax
Drive
power input 3 phase AC160~264V 50/60Hz
Dielectric
strength AC1500V 1 minute
Insulation
resistance DC500V 10MΩ over
Calorific value 1 unit: 15 W
Stop
momentarily It does not affect 50msec or less. (except when driving)
Nutrunner
model
ANZM-50
ANZM-250
ANZM-350
ANZM-500 ANZM-850
ANZM-1600
ANZM-1800S
ANZM-2000
ANZM-3500
ANZM-3000
ANZM-5000
ANZM-7000
ANZM-9000
ANZM-12000
ANZM-15000
Corresponding
GSK model GSK(GSKW)-14(T4)-E-N7 GSK(GSKW)-15(T5)-E-N7
GSK-
17(T7)-E-N7
Combination
motor TS4603N1920 TS4617N1920 TS4609N1920 TS4618N1922 TS4619N1920 TS4619N1922
Motor output
[W] 75 150 300 600 1125 1125
Rotor inertia
[kg・m^2] 0.04x10-4 0.083x10-4 0.38x10-4 0.79x10-4 2.62x10-4 2.62x10-4
Drive power
rating
electric
capacity
[Arms]
0.6 1.2 2.3 4.5 8.5 8.5
Rated output
current
[Arms]
1.0 1.9 3.6 6.8 7.1 11.0
24.6
Instantaneous
maximum 5.4 10.7 19.6 38.6 40.2 62.9
10
current
[Arms]
Rated torque
[N・m] 0.159 0.318 0.64 1.27 2.39 2.39
Instantaneous
maximum
torque
[N・m]
0.95 1.91 3.82 7.64 14.32 14.32
Maximum
speed
without load [rpm]
12500 7500 12500
Motor drive
system Transistor PWM Sine / Square wave drive
Angle sensor Incremental encoder
(With the zero magnification signal, line driver output, 256C/T)
Operating
temperature
and humidity
0 to 50°C, Less than 90%RH (No condensation)
※About correspondence with NR except ANZM series
The correspondence of NR other than ANZM series is shown below.
・ANZMC series (Small torque sensor amplifier type)
Model Compatible controller
ANZMC-50
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
ANZMC-250
ANZMC-350
ANZMC-500
ANZMC-850
ANZMC-1600
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMC-1800S
ANZMC-2000
ANZMC-3000
ANZMC-3500
ANZMC-5000
GSK-17(T7)-E-N7
ANZMC-7000
ANZMC-9000S
ANZMC-12000
ANZMC-15000
・ANZMH series (High speed type)
Model Compatible controller
ANZMH-200 GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7 ANZMH-450
ANZMH-900 GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMH-1500
GSK-17(T7)-E-N7 ANZMH-1850S
ANZMH-2001
ANZMH-9000
11
・ANZMCH series (Small torque sensor amplifier and high speed type)
Model Compatible controller
ANZMCH-200 GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7 ANZMCH-450
ANZMCH-900 GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMCH-1500
GSK-17(T7)-E-N7 ANZMCH-1850S
ANZMCH-2000
ANZMCH-2500
・ANZMSH series (Small torque sensor amplifier and short and high speed type)
Model Compatible controller
ANZMSH-120 GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7 ANZMSH-130
ANZMSH-150
ANZMSH-450 GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7 ANZMSH-500
ANZMSH-700
ANZMSH-2000 GSK-17(T7)-E-N7
・ANZMKH series (Built in clutch type)
Model Compatible controller
ANZMKH-400 GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7 ANZMKH-700
・ANCKHM series (Change motor and built in clutch type)
Model Compatible controller
ANCKHM-200 GSKW-14(T4)-E1-N7
GSK-14(T4)-E1-N7
ANCKHM-500 GSKW-15(T5)-E1-N7
GSK-15(T5)-E1-N7 ANCKHM-900
・ANZMCTH series (Built in clutch type)
Model Compatible controller
ANZMCTH-100E1 GSKW-14(T4)-E1-N7
GSK-14(T4)-E1-N7 ANZMCTH-150E1
ANZMCTH-230E1
ANZMCTH-450E1 GSKW-15(T5)-E1-N7
GSK-15(T5)-E1-N7 ANZMCTH-700E1
ANZMCTH-900E1
12
2-3 Function and characteristics
The protected function Over current, over load, over speed, encoder failure,
drive power failure, E2PROM failure and CPU failure, etc.
display 7SEGMENT LED
Alarm No., NG information
Program No., Block No.
Operation monitor
Tightening result (Torque, etc.)
Parameter settings
Set the following parameters by a personal computer
and input them to the IF unit.
. Program 16 or 50
. Rating 30
. PRE.T
. REA.T Each 50
. REV.T
. SOC.T
Memory of tightening data
Tightening data: About 5,000 per axis
Alarm history:16 per axis
Tightening waveform:1 per axis
It is possible to check the data from PC.
Multi-axis compatible
1 to 30 units of controller or 1 to 15 units
of double type controller can be connected to 1 Interface unit.
Max. 30 axes multiaxial control is possible.
Communication
with sequencer
Communication according to many types
of compatible standards using Anybus
※ Please refer to 2-2 about corresponding standard
Axis disabling function
It can be set by the operation of the PC setting or the front panel
(Use at the time of failure, etc.)
※ It can not be used when using positioning.
Zero magnification
check function
Failure diagnosis function of torque sensor
(This is performed at each tightening.)
Gear check function Gear and motor shaft burn-in diagnostic function
(selectable with or without)
Simulation movement Simulation operation is possible from a PC.
(Tightening seating angle sampling start)
Calendar function It stores year, month, day, hour, minute and second for each data.
Regenerative function
(Overvoltage detection)
When the drive voltage exceeds a certain value, the built
in regenerative circuit is consumed by the internal resistance.
Discharge function
If it is a single, it is a natural discharge function that uses the top
of the front panel, and if it is a W type, the LED at the top
and bottom right of the panel.
Standard inertia JL ≦ 30JM
Rotating direction Make CCW in the positive direction seen from the motor shaft end
Analog monitor
2 points ± 8 V
(outputs torque, speed and current to the check terminal
on the panel surface)
13
2-4 Dimension 2-4-1 Interface dimensions: Standard specification・・・GSK-IF-N7
14
2-4-2 Dimension drawing: standard specification・・・GSKW-1(T)4-E(1)-N7
15
2-4-3 Dimension drawing: standard specification・・・GSK-15(17)-E(1)-N7
※GSK-15-E(P)(1)-N7 の際はファンが付きませんのでご注意ください
16
2-4-4 Dimension drawing: T type specification・・・GSK-T5(T7)-E (1)-N7
17
2-4-5 Dimension drawing: standard specification・・・GSKW-15-E (1)-N7
18
2-4-6 Dimension drawing: T type specification・・・GSKW-T5-E (1)-N7
19
2-4-7 Dimension drawing(Display): type・・・ GSK-D2-N7
・パネルカット寸法
20
3. Wire connection 3-1 Connection reference drawing 3-1-1 GSKW System connection reference diagram
21
3-1-2 GSK System connection reference diagram
22
3-2 Used connector and mating connector 3-2-1 GSK Used connector and mating connector ・GSK driver unit (14/T4)
Port No. Name Used connector type Matching connector
housing
Matching connector
pin annexed
CN1 For the control power 734-166
(WAGO)
734-106
(WAGO) ― ○
CN2 Not used 1-1827876-4
(TYCO)
1-1827864-4
(TYCO)
1827570-2
(TYCO) ―
CN3 For communication
among controllers
at Arc-Net
MSTB2.5/4-GF-5.08
(PHOENIX
CONTACT)
MSTB2.5/4-STF-5.08
(PHOENIX
CONTACT)
― ○
CN10 For the driving power
supply connection
1-179277-2
(TYCO)
1-178128-4
(TYCO)
1-175218-2
(TYCO) ○
CN11 For power line
of nutrunner 1
2-179277-2
(TYCO)
2-178128-4
(TYCO)
1-353717-2
(TYCO) ×
CN12 For power line
of nutrunner 1
2-179277-2
(TYCO)
2-178128-4
(TYCO)
1-353717-2
(TYCO) ×
CN21 For sensor line
of nutrunner1
10220-52-A2PL
(SUMITOMO 3M)
10320-52A0-008
(SUMITOMO 3M)
10120-3000VE
(SUMITOMO 3M) ×
CN22 For sensor line
of nutrunner2
10220-52-A2PL
(3M Japan)
10320-52A0-008
(SUMITOMO 3M)
10120-3000VE
(SUMITOMO 3M) ×
・GSK driver unit (15/T5, 17/T7)
Port No. Name Used connector type Matching connector
housing Matching connector pin annexed
CN10 For the driving power
supply connection
1-917541-2
(TYCO)
1-179958-4
(TYCO)
316040-2
(TYCO) ○
CN11 For power line
of nutrunner 1
2-917541-2
(TYCO)
2-179958-4
(TYCO)
316040-2
(TYCO) ×
CN12 For power line
of nutrunner 1
2-917541-2
(TYCO)
2-179958-4
(TYCO)
316040-2
(TYCO) ×
23
・GSK Interface unit
Port No. Name Used connector type Matching connector
housing
Matching connector
pin annexed
CN1 PLC connection
port
1-1827876-3
(TYCO)
1-1827864-3
(TYCO)
1827570-2
(TYCO) ―
CN2 Control power
supply input port
734-144
(WAGO)
734-104
(WAGO) ― ○
CN3 Not used 1-1827876-2
(TYCO)
1-1827864-2
(TYCO)
1827570-2
(TYCO) ―
CN4 Port for setting PC
connection
UBB-4R-D14T-4D
(JST)
USB
Type B ― ―
CN5 Controller
connection port
MSTB2.5/4-GF-5.08
(PHOENIX CONTACT)
MSTB2.5/4-STF-5.08
(PHOENIX
CONTACT)
― ○
CN6 Port for CAN
communication
1-1827876-3
(TYCO)
1-1827864-3
(TYCO)
1827570-2
(TYCO) ―
CN7 Display connection
port
1-1827876-4
(TYCO)
1-1827864-4
(TYCO)
1827570-2
(TYCO) ―
CN8
Port for ID
controller
connection
1-1827876-4
(TYCO)
1-1827864-4
(TYCO)
1827570-2
(TYCO) ―
CN10 Printer connection
port
1-1827876-2
(TYCO)
1-1827864-2
(TYCO)
1827570-2
(TYCO) ―
3-2-2 Communication port details owned by the interface ・GSK Interface unit
Port No. Name Explanation
CN1 PLC (RS485) This is used when communicating with PLC in M-NET.
※ It is not used when using Anybus
CN2 Power / READY
notification(SW)
4-core connector
Left 2 cores are power supply (24V)
Right two-wire start notification for relay
CN3 Debugger for
serial(RS232)
It does not connect normally.
This is used when updating GSK-IF firmware.
CN4 A setting personal
computer (USB)
This is used to rewrite and read data using setting software.
It is also used when updating GSK-IF firmware.
CN5 Driver(Arc-Net) When connecting some GSK controllers,
this port connects the controllers with Arc-Net.
CN6 CAN communication
connector Not used※
CN7 External display (RS422) This is used for a connection with the external display.
CN8 ID controller or quality
control PC (RS422)
ID controller and a printer are seleced either by the setting of a personal
computer. It can not be connected at the same time.
The connection partner of quality control personal computer depends on
the setting.
ID controller when using ⇒ ⑨ ⑩
· Printer when using ⇒ ⑧ 【Caution】
Please do not connect the equipment at the same time in two connectors
of CN9 and CN10.
【In the case of the previous firmware than Rev1721-160】
· CN8 = quality control PC
· CN9 / 10 = Printer or ID controller
CN9 Printer or personal
computer for quality
control
(CN9: RS422)
Printer or personal
computer for quality
control
(CN10: RS232C)
CN10
CN11 Battery back up A backup battery for clocks is connected here.
※Unused CN6 may be used for special specification.
24
3-3 External connection 3-3-1 External connection diagram (between GSK and NR) : Driver amplifier of standard specification and T specification
25
3-3-2 External connection diagram (interface~connected device):Interface
26
3-4 Cable model list 3-4-1 GSK cable model list
Cable name NR that can use the cable Cable model
Motor direct cable
(NR~Driver)※1
ANZM-50~ANZM-850 etc K8M5DW-4R-□M
ANZM-1600~ANZM-3500 etc K8M30D-4R-□M
ANZM-5000~ANZM-9000 etc K8M90D-4R-□M
Motor relay movable cable
(NR~Relay section)
ANZM-50~ANZM-850 etc K8M5TW-4R-□M
ANZM-1600~ANZM-3500 etc K8M30T-4R-□M
ANZM-5000~ANZM-9000 etc K8M90T-4R-□M
Motor relay fixed cable
(Relay section~Driver)※1
ANZM-50~ANZM-850 etc K8M5TW-4A-□M
ANZM-1600~ANZM-3500 etc K8M30T-4A-□M
ANZM-5000~ANZM-9000 etc K8M90T-4A-□M
Encoder・Sensor direct cable
(NR~Driver)
ANZM-50~ANZM-9000 etc K8E*S*D-16R-□M
ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series
K8E*S*DC-16R-□M
Resolver・Sensor direct cable
(NR~Driver)
ANZR series K8R*S*D-16R-□M
ANZRC series K8R*S*DC-16R-□M
Encoder・Sensor relay movable cable
(NR~Relay section)
ANZM-50~ANZM-9000 etc K8E*S*T-16R-□M
ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series
K8E*S*TC-16R-□M
Resolver・Sensor relay movable cable
(NR~Relay section)
ANZR series etc K8R*S*T-16R-□M
ANZRC series etc K8R*S*TC-16R-□M
Encoder・Sensor relay fixed cable
(Relay section~Driver)
ANZM-50~ANZM-9000 etc K8E*S*T-16A-□M
ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series
K8E*S*TC-16A-□M
Resolver・Sensor relay fixed cable
(Relay section~Driver)
ANZR series etc K8R*S*T-16A-□M
ANZRC series etc K8R*S*TC-16A-□M
Encoder・Sensor extension cable
(Relay section~Relay section) ― K8EST-16EX-□M
Resolver・Sensor extension cable
(Relay section~Relay section) ― K8RST-16EX-□M
※1. Ferrite core MRFC-8 (manufactured by Kitagawa Kogyo) is attached to the UVW wire for the motor cable.
The above ferrite core is recommended when manufactured.
27
3-5 Noise countermeasure 3-5-1 Noise countermeasure example Attach the ferrite core for noise suppression to the controller side of the cable. For the positioning GSK encoder cable, attach it to the encoder side of the cable.
Recommended countermeasure parts
28
3-4-2 GSKW cable model list
Cable name NR that can use the cable Cable model
Motor direct cable
(NR~Driver)※1
ANZM-50~ANZM-850 etc K8M5DW-4R-□M
ANZM-1600~ANZM-3500 etc K8M30D-4R-□M
Motor relay movable cable
(NR~Relay section)
ANZM-50~ANZM-850 etc K8M5TW-4R□M
ANZM-1600~ANZM-3500 etc K8M30T-4R-□M
Motor relay fixed cable
(Relay section~Driver)※1
ANZM-50~ANZM-850 etc K8M5TW-4A□M
ANZM-1600~ANZM-3500 etc K8M30T-4A-□M
Encoder・Sensor direct cable
(NR~Driver)
ANZM-50~ANZM-3500 etc K8E*S*D-16R-□M
ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series
K8E*S*DC-16R-□M
Resolver・Sensor direct cable
(NR~Driver)
ANZR series K8R*S*D-16R-□M
ANZRC series K8R*S*DC-16R-□M
Encoder・Sensor relay movable cable
(NR~Relay section)
ANZM-50~ANZM-3500 etc K8E*S*T-16R-□M
ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series K8E*S*TC-16R-□M
Resolver・Sensor relay movable cable
(NR~Relay section)
ANZR series etc K8R*S*T-16R-□M
ANZRC series etc K8R*S*TC-16R-□M
Encoder・Sensor relay fixed cable
(Relay section~Driver)
ANZM-50~ANZM-3500 etc K8E*S*T-16A-□M
ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series K8E*S*TC-16A-□M
Resolver・Sensor relay fixed cable
(Relay section~Driver)
ANZR series etc K8R*S*T-16A-□M
ANZRC series etc K8R*S*TC-16A-□M
Note 1 (All cables)
he inside of □ represents the cable length in meters.
Please choose from 3m, 7m, 10m, 15m and 20m.
It's also possible to manufacture some cables of other than above, but in that case more time is required.
Note 2 (Encoder(Resolver)・sensor cable)
E *: If the encoder cable length from the junction is not filled in, we will create it as standard. (0.3 m)
S *: If the sensor cable length from the junction is not filled in, we will create it as a standard. (1.5 m)
※1. Ferrite core MRFC-8 (manufactured by Kitagawa Kogyo) is attached to the UVW wire for the motor cable.
The above ferrite core is recommended when manufactured.
29
4. Signal 4-1 Type of input / output signal
Parallel I/O
I/O Points Name Specification Contents
Parallel input
signal 48 points IN1~IN48
DC24V
11mA This installs and uses
a exclusive Anybus board Parallel
output signal 48 points OUT1~OUT48
DC24V
30mA max
Serial I/O
I/O Note Using
Arc-Net It is necessary to install
a 110Ω termination resistor.
Communication between controllers
in multi-axis control
CC-LINK Attach and use a dedicated Anybus board Communication of tightening management
with PLC
Devise-NET Attach and use a dedicated Anybus board Communication of tightening management
with PLC
Analog monitor
Contents
M1 This outputs data such as torque and current by panel operation.
Data such as torque sensor output (≒ 5V / sensor rating), current scaling (10A / 10V),
motor rotation speed (right output plus output) can be checked using an oscilloscope etc.)
M2
※The above can be changed by the operation of the setting panel. (See page 81)
Interface unit
I/O Points Using
RS232C 1 point Parameters and other various data are input / output
by PC connection
Centronics
or RS422
1 point
/2 points
Parallel printer connection
ID and product PC connection
(impossible simultaneously with the printer)
RS422 1 point Connect with a display
RS485 1 point Connect with sequencer etc. in SIO format (option)
30
4-2 Input/Output signal 4-2-1 Input signal Input(“PLC” ⇒ “GSK”)
No. Bit I/O Name Contents
0 0 IN 1 Operation ready
It is an operation preparation command to the GSK system.
OFF: Operation prohibited. GSK-IF does not work.
・Start signal is not accepted.
・GSK performs emergency stop if this signal becomes OFF
during operation
ON: The operation is permitted.
・When GSK can operate, the output signal "Operation ready
completed" becomes ON.
0 1 IN 2 AUTO/MANU
This signal selects automatic operation / manual operation.
OFF: You can start the following manual operation.
Input signal Operation
Inching start Inching start
JOG start Move to specified position
XJOG/YJOG XY jog operation
【In the positioning mode】
In addition to the above, automatic operation in block units is possible. It is necessary to be in this state when teaching.
ON: Automatic operation (program operation) can be started.
Input signal Operation
Start
【In the multi axis mode】
It works only one block.
It will wait for the next start when finished.
【In the positioning mode】
It will perform the block operation
continuously.
0 2 IN 3 Start
Automatic operation of the program is started
at the OFF⇒ON rising edge of this signal.
You must keep this signal at ON during operation.
If it changes to 0 during operation, it will stop the cycle
and pause automatic operation.
0 3 IN 4 Inching start The nutrunner performs inching operation
at the OFF⇒ON rising edge of this signal.
0 4 IN 5 Determination reset
The judgment result of automatic operation is reset
at the OFF⇒ON rising edge of this signal.
When the program operation is completed, it is accepted if the output
signal "total judgment OK" or "total judgment NG" is on
0 5 IN 6 Alarm reset
The OFF⇒ON rising edge of this signal clears
the GSK system alarm status.
When the alarm reset is successful, the operation ready complete signal
will return to ON if the operation preparation signal is ON.
0 6 IN 7 QL input The QL procedure is executed on the OFF⇒ON rising edge of this
signal.
0 7 IN 8 QL mode
This sets whether to accept QL signal.
OFF: Disabled ON: Enabled
This signal must be ON when performing QL operation.
1 0-5 IN
9-14
Program bit1
~
Program bit6
They specify the program number in automatic operation.
(The program number is 6 bit data which regarded “Program bit 1”
as LSB)
The program number is specified in the range from 1 to the maximum selected value.
1 6 IN 15 Reserve ―
1 7 IN 16 GSK reset At the rising edge of OFF to ON, it resets the GSK system
to its initial state.
2 0-3 17-20 X JOG + 【Positioning mode only】
31
X JOG -
YJOG +
Y JOG -
It performs jog operation on X and Y axes respectively。
2 4-5 IN
21-22
INX 1
INX 2
【Positioning mode only】
This signal is used to suspend X-axis movement
in automatic operation.
2 6-7 IN
23-24
INY 1
INY 2
【Positioning mode only】
This signal is used to suspend Y-axis movement
in automatic operation.
3 0-1 IN
25-26
Cylinder1 returned
Cylinder1 advanced
【Positioning mode only】
This signal is used to refer to the vertical position of the nut runner.
3 2-3 IN
27-28
X return signal
Y return signal
【Positioning mode only】
The input of this signal moves the X and Y axes to the return position.
If it is in operation such as automatic operation, it will stop operation
and then start moving.
3 4-5 IN
29-30
WAIT 1
WAIT 2
【Positioning mode only】
This signal temporarily pauses program step execution.
3 6 IN 31 Reserve ―
3 7 IN 32 JOG start
【Positioning mode only】
It moves to the XY coordinates specified by "Position command"
at the 0⇒1 rising edge of this signal.
4 0-7 IN
33-40
Position 1 signal
~
Position 128 signal
【Positioning mode only】
This signal is the position number to move when JOG starts.
(8-bit data that regarded "Position 1 signal" as LSB)
The number in the range of 1 to 255 is specified.
5 0 IN 41 IN
If the step in the program is “waiting for IN”, step execution is
suspended until this signal is input.
This signal is used in combination with the output signal "OUT".
5
5
1
2
IN
42-43
WAIT 3
WAIT 4
【Positioning mode only】
This signal temporarily pauses program step execution.
5 3-4 IN
44-45 Reserve ―
5 5 IN 46 ZJOG rise By this signal input, raising operation of Z axis is performed.
5 6 IN 47 ZJOG descent The Z axis is lowered by the input of this signal.
5 7 IN 48 Tightening sampling
start
The thightening angle sampling starts at the off⇒on rise of this signal.
The tightening setting is performed automatically using
the acquired angle by this operation.
※This signal is used only by the setting software function.
6-9 0-7 IN
49-80 Reserve ―
10 0-1 IN
81-82
Retightening signal
Retightening mode These signals are used for retightening.
10
11
2-7
0-7
IN
83-96 Reserve ―
12
-13 0-7
IN
97-112
Heighst
1~16
The correction value for correcting the height of the work is
represented by these 1 to 16 signals.
The correction value is 16 bits with a sign, and these 1 to 16 represent
bit 0 to 15 of the correction value respectively.
14
-17
0-7
~
0-5
IN
113
-142
Axis off
1~30 This deactivates that axis when this signal is input.
17 6-7
IN
143
-144
Reserve ―
32
4-2-2 Output signal Output(“GSK” ⇒ “PLC”)
No. Bit I/O Name Contents
0 0 OUT 1 Opration ready
completed
This signal informs the PLC etc. that the preparation
for operation is completed.
If this is not output, the system does not energize the nut runner.
OFF: Servo motor power off
The connected motor can not operate because the power is off.
ON: Servo motor power on
As the connected motor is turned on, and each operation command
becomes Enabled.
※It always informs OFF in the following cases.
・The GSK interface or GSK controller is outputting an alarm.
・"Operation ready" of the input signal is 0.
0 1 OUT 2 NR unit OK
This signal indicates that the GSK system is normal.
OFF: Device error (alarm occurrence)
ON: Device is normal
0 2 OUT 3 Battery OK
This signal is sent to check if the battery for GSK-IF clock
is normal.
OFF: Voltage error
This signal turns off when the voltage drops below 2.5V.
When the battery is removed, it takes about 60 seconds
to reach this state.
ON: Voltage is normal
※This signal is only notification. Even in the case of OFF,
there is no restriction on operation.
(Date and time information will be undefined)
0 3-4 OUT
4-5
Total OK
/Total NG
These signals show the result of program operation
by automatic operation.
At the start of automatic operation, both signals are OFF.
Either of these becomes ON when all operations of the specified
program number are completed.
※Total NG may change to total OK due to QL operation.
※These signals do not become on
when the program does not workto the end due
to “GSK reset” etc.
0 5 OUT 6 NR running
This signal indicates whether the nutrunner axis is operating.
OFF: All nutrunner axes in the same unit have stopped.
ON: There is a nutrunner axis in operation.
0 6 OUT 7 QL COMP. This signal will be ON when the QL operation is complete.
0 7 OUT 8 Program running
This signal informs that the program of automatic operation is
operating.
ON: Working
OFF: Stopped
1 0-5 OUT
9-14
Program bit1
~
Program bit6
The selected program number is notified by these signals.
(6 Bit data that regarded "Program bit 1" as LSB)
1 6 OUT 15 Output enabled This signal indicates that program selection has been completed.
1 7 OUT 16 Z axis home
return complete This signal indicates that the current value of Z axis is the origin.
33
No. Bit I/O Name Contents
2 0-1 OUT
17-18
Tightening
toatal OK
/Tightening
total NG
【In case of multi axis mode】
It is always OFF
【In case of positioning mode】
These signals show the result of program operation
by automatic operation.
At the start of automatic operation, both signals are OFF.
Either of these becomes ON when all tightening commands
of the specified program number are completed.
※By referring to this signal, the result can be judged earlier
than "total OK" or "total NG"
2 2-3 OUT
19-20
X axis home
return complete
/Y axis home
return complete
These signals indicate whether or not the X-axis / Y-axis origin is
correctly recognized.
OFF: Home return not performed
ON: Home return
※If home return is not performed, XY movement
by program operation and JOG start can not be performed.
2 4-5 OUT
21-22
ZERO/GAIN
OK
/ ZERO/GAIN
NG
These signals signal the results of zero checks and magnification
checks in the GSK controller.
ZERO/GAIN OK is ON
: The zero checks and magnification checks succeeded
for all NR axes.
ZERO/GAIN NG is ON
: There were one or more axes of the zero checks NG
or magnification checks NG.
2 6 OUT 23 Cycle stop This signal becomes ON when a cycle stop occurs.
2 7 OUT 24 OUT
This signal is used in synchronization with the PLC
in automatic operation.
・It is OFF at the time of start.
・If the command of the program has OUT attribute, this signal is
output at the processing of the command is completed.
Usually it used in combination with the input signal "IN".
3 0 OUT 25 SYNC
/MARK Waiting
This signal is output while waiting for a SYNC
or WT_MARK command.
3 1 OUT 26 Retightening This signal indicates that retightening is in operation.
3 2 OUT 27 Reserve ―
3 3 OUT 28 Z axis Pressing This signal indicates that the Z axis is in pressing operation.
3 4-5 29-30 Z up Lmt
Z down Lmt
Z up Lmt
: This signal notifies that the current coordinate of Z axis exceeds
the limit of point detection coordinates.
Z downLmt
: Notifies that the current Z axis coordinate exceeds
the point detection coordinate lower limit.
3 6-7 OUT
31-32
Tightening block
OK
/ Tightening
block NG
These signals report the tightening results for each block.
Either turns on at the end of the block.
OK is ON: Tightening was successful for all NR axes
NG ON: There were one or more screws of tightening NG.
※These signals may change from NG to OK by the QL procedure.
※This signal does not change at the end of the XY block.
4 0-5 OUT
33-38
Block 1 end
~
Block 32 end
These indicate the block number for which the operation has been
completed in automatic operation in binary with each signal
as 1 bit.
(6 Bit data which regarded Block 1 end as LSB)
When the tightening block is completed,
the indicated value is incremented by one.
4 6 OUT 39 Position locater
running
【Positioning mode only】
OFF: Both X and Y axes stop
ON: Both or one of X and Y axes is operating
4 7 OUT 40 Z axis moving This signal indicates that the Z axis is moving.
34
No. Bit I/O Name Contents
5 0-7 OUT
41-48
Position 1 output
~
Position 128
output
【Positioning mode only】
These indicate the current position number in binary
with each signal as a bit.
(8-bit data where "Position 1 output" is regarded as LSB)
If the value indicated by these is 0, it has not reached
the coordinates of any number.
6 0-1 OUT
49-50
X extent output 1
X extent output 2
【Positioning mode only】
This signal indicates if the X axis is within a certain range.
The range coordinate value is determined by the range output
upper and lower limit value of the X axis rating.
6 2-3 OUT
51-52
Y extent output 1
Y extent output 2
【Positioning mode only】
This signal indicates if the Y axis is within a certain range.
The range coordinate value is determined by the range output
upper and lower limit value of the Y axis rating.
6 4 OUT 53 Interference fault 【Positioning mode only】
This signal turns ON when interference between units occurs.
6 5 OUT 54 Position locater
fault
【Positioning mode only】
This signal turns ON when movement of the XY axis specified
point number fails.
6 6-7 OUT
55-56
Cylinder 1
advance
/ Cylinder 1
return
【Positioning mode only】
This signal is for raising and lowering the nut runner axis.
7 0 OUT 57 Z output rang This signal turns on while the current Z axis coordinate is within
the Z range upper limit to lower limit of the Z axis rating.
7 1 OUT 58 Z_UP 1 This signal indicates that it is above
the "Z_UP1 command completion position".
7 2 OUT 59 Z_UP 2 This signal indicates that it is above the "Z_UP2 command
completion position".
7 3 OUT 60 Z down position
This signal turns ON when the Z-axis coordinate descends
to the target position during program operation.
It also turns ON when the Z coordinate position specified
by the cylinder lowering command or pressing command
is reached.
7 4-6 OUT
61-63 Reserve ―
7 7 OUT 64 Driver Ready
Turns on when all drivers in the unit can be driven.
:A driver alarm has occurred.
:Drive power supply (200 V) is not supplied to the driver.
(Wiring problem etc.)
Does not turn on.
8-9
0-7
~
0-7
OUT
65-80 Reserve ―
10
-
17
0-7
~
0-3
OUT
81-140
Screw 1 OK
~
Screw 60 OK
When the screw tightening operation is successful, the signal of the
corresponding screw number turns ON.
※ If screw tightening fails, it will remain OFF,
but it may change to 1 due to subsequent
re-tightening operation or QL procedure.
17 4 OUT 141
Transferring
results
This signal is turned on while transferring the tightening result
by FTP.
17 5 OUT 142
Adjustment
mode
This signal indicates that coordinate adjustment is possible
by teaching.
17 6 OUT
143
Protection
warning Please refer to the "Preventive Maintenance" section.
17 7 OUT 144
Life time
warning Please refer to the "Preventive Maintenance" section.
35
No. Bit I/O Name Contents
18 0 OUT
145 Loose complete
The ON state of this signal is the start condition
of the retightening mode.
When the loosening signal is turned on at the loosening mode,
this signal is turned on.
18 1 OUT
146 Loose waiting
This signal indicates that the retightening operation is required
when the overall NG is output and the retighteing function is
effective.
It turns off by the signal during retightening.
18 2 OUT
147 Retightening NG
This signal notifies that there was an NG in the result
of the retightening operation.
18 3-5 OUT
148-150 Reserve ―
18 6 OUT
151
Automatic
operation This signal outputs that the entire device is in automatic operation.
18 7 OUT
152 During Axis off
Turn on this signal if there is at least one invalid axis
on the system.
19 0 OUT
153
Work addition
warning
This signal is output when the number of automatic operations
reaches the work addition warning value.
19 1 OUT
154
Screw addition
warning
This signal is output when the number of screws tightened by
automatic operation reaches the screw addition warning value.
19 2 OUT
155 SD card warning
Turns on when the SD card is set and can not write.
(SD card write failure etc.)
19 3-6 OUT
156-159 Reserve ―
19 7 OUT
160 Warning
Informs that some warning has occurred
Even one of the following conditions is ON. (OR condition)
・ "Protection warning" is ON
・ "Life warning" is ON
・ "Work accumulated warning" is ON
・ "Screw integration warning" is ON
・ "SD card warning" is ON
20
-23
0-7
~
0-7
OUT
161-192 Reserve ―
36
4-3 Input / Output signal map Input(“PLC” ⇒ “GSK”)
No. bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7
0 Operation
ready
AUTO
/MANU Start
Inching
start
Determination
reset Alarm reset QL input QL mode
1 Program bit1 Program bit2 Program bit3 Program
bit4 Program bit5 Program bit6 ― GSK reset
2 X JOG + X JOG - YJOG + Y JOG - INX 1 INX 2 INY 1 INY 2
3 Cylinder1
returned
Cylinder1
advanced
X return
signal
Y return
signal WAIT 1 WAIT 2 ― JOG start
4 Position 1
signal
Position 2
signal
Position 4
signal
Position 8
signal
Position 16
signal
Position 32
signal
Position 64
signal
Position 128
signal
5 IN WAIT 3 WAIT 4 ― ― ZJOG rise ZJOG
descent
Tightening
sampling
start
6 ― ― ― ― ― ― ― ―
7 ― ― ― ― ― ― ― ―
8 ― ― ― ― ― ― ― ―
9 ― ― ― ― ― ― ― ―
=====The following is valid only for UNIT 1 =====
10 Retightening
signal
Retightening
mode ― ― ― ― ― ―
11 ― ― ― ― ― ― ― ―
12 Heighst 1 Heighst 2 Heighst 3 Heighst 4 Heighst 5 Heighst 6 Heighst 7 Heighst 8
13 Heighst 9 Heighst 10 Heighst 11 Heighst 12 Heighst 13 Heighst 14 Heighst 15 Heighst 16
14 Axis off 1 Axis off 2 Axis off 3 Axis off 4 Axis off 5 Axis off 6 Axis off 7 Axis off 8
15 Axis off 9 Axis off 10 Axis off 11 Axis off 12 Axis off 13 Axis off 14 Axis off 15 Axis off 16
16 Axis off 17 Axis off 18 Axis off 19 Axis off 20 Axis off 21 Axis off 22 Axis off 23 Axis off 24
17 Axis off 25 Axis off 26 Axis off 27 Axis off 28 Axis off 29 Axis off 30 ― ―
37
Output(“GSK” ⇒ “PLC”)
No. bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7
0
Opration
ready
completed
NR unit OK Battery OK Total OK Total NG NR running QL COMP. Program
running
1 Program bit1 Program bit2 Program bit3 Program bit4 Program bit5 Program
bit6
Output
enabled
Z axis home
return
complete
2 Tightening
toatal OK
Tightening
toatal NG
X axis home
return
complete
Yaxis home
return
complete
ZERO
/GAIN OK
ZERO
/GAIN NG Cycle stop OUT
3
SYNC
/MARK
Waiting
Retightening ― Z axis
Pressing Z up Lmt
Z down
Lmt
Tightening
block OK
Tightening
block NG
4 Block 1 end Block 2 end Block 4 end Block 8 end Block 16 end Block 32
end
Position
locater
running
Z axis
moving
5 Position 1
output
Position 2
output
Position 4
output
Position 8
output
Position 16
output
Position 32
output
Position 64
output
Position 128
output
6 X extent
output 1
X extent
output 2
Y extent
output 1
Y extent
output 2
Interference
fault
Position
locater fault
Cylinder
advance
Cylinder
return
7 Z output rang Z_UP 1 Z_UP 2 Z down
position ― ― ―
Driver
Ready
8 ― ― ― ― ― ― ― ―
9 ― ― ― ― ― ― ― ―
=====The following is valid only for UNIT 1 =====
10 Screw 1 OK Screw 2 OK Screw 3 OK Screw 4 OK Screw5 OK Screw 6
OK
Screw 7
OK Screw 8 OK
11 Screw 9 OK Screw 10 OK Screw 11 OK Screw 12 OK Screw 13 OK Screw 14
OK
Screw 15
OK Screw 16 OK
12 Screw 17 OK Screw 18 OK Screw 19 OK Screw 20 OK Screw 21OK Screw 22
OK
Screw 23
OK Screw 24 OK
13 Screw 25 OK Screw 26 OK Screw 27 OK Screw 28 OK Screw 29 OK Screw 30
OK
Screw 31
OK Screw 32 OK
14 Screw 33 OK Screw 34 OK Screw 35 OK Screw 36OK Screw 37 OK Screw 38
OK
Screw 39
OK Screw 40 OK
15 Screw 41 OK Screw 42 OK Screw 43 OK Screw 44 OK Screw 45 OK Screw 46
OK
Screw 47
OK Screw 48 OK
16 Screw 49 OK Screw 50 OK Screw 51 OK Screw 52 OK Screw 53OK Screw 54
OK
Screw 55
OK Screw 56 OK
17 Screw 57 OK Screw 58 OK Screw 59 OK Screw 60 OK Transferring
results
Adjustment
mode
Protection
warning
Life time
warning
18 Loose
complete
Loose
waiting
Retightening
NG ― ― ―
Automatic
operation
During Axis
off
19
Work
addition
warning
Screw
addition
warning
SD card
warning ― ― ― ― Warning
20 ― ― ― ― ― ― ― ―
21 ― ― ― ― ― ― ― ―
22 ― ― ― ― ― ― ― ―
23 ― ― ― ― ― ― ― ―
38
4-4 Select a sequencer The communication that GSK-IF can connect as standard is M-NET.
GSK-IF reads the ID of each board when power is turned on and operates according to each communicatio.
And so there is no change of communication switching settings.
4-4-1 Anybus board setting method
It opens the GSK-IF cover and sets the following Anybus board in connector CN14.
M-NET No need for Anybus board
DeviceNet HMS Industrial Networks ANYBUS-S Devicenet
CC-LINK HMS Industrial Networks ANYBUS-S CC-Link
PROFINET IO HMS Industrial Networks ANYBUS-S Profinet-IO
PROFINET IRT HMS Industrial Networks ANYBUS-S Profinet-IRT
Functional differences with M-NET
The I/O signal map does not change even if the communication standard changes.
However, there are the following functional differences.
Communication
method
Off axis
information
Tightening result
notification
M-NET × ×
Device-Net ○ ○
CC-LINK ○ ○
PROFI-
NET IO ○ ○
PROFI-
NET IRT ○ ○
39
5. Operation timing chart 5-1 Power on and inching operation (It will work at the speed and direction setting of rotation and inching that has been selected (1 to 24)
by the program selection signal (1 to 5))
40
5-2 Program operation - 2 step operation 1 (1 block setting, if the judgment OK)
41
5-3 Program operation - 2 step operation 2 (When 1 block has settings of the 3 axis, first and second axis become NG at first step, third Axis is OK up to a two-step:
there is QL process)
42
5-4 Program operation - 2 step operation 3 (When 1 set block has the 2 axis, first axis become NG at first step, second axis is OK up to a two-step:
QL process is nothing)
43
5-5 Program operation - 1 step operation 1 (2 block setting of, among the three axes, 1 and 2-axis is the first block NG, 3 Axis OK,
2 th block all axes OK : 1 block after QL)
44
5-6 Program operation - 1 step operation 2 (2 block setting of, among the three axes, 1 and 2-axis is the first block NG, 3 Axis OK,
2 th block all axes OK: at the end of the program collectively QL)
45
5-7 Program operation - 2 step operation 4 (1 block, there is IN set ting to the second step)
46
5-8 Program operation - 1 step operation 3 (3 blocks, if allowed to operate in the block order specified by the block selection signal:
When the block select 1 to 5 are all OFF will operate from the block 1 in the order)
47
5-9 Interruption of program operation (reset) (And if one block after the end of reset in one step × 2 blocks operation is turned ON
If it became a reset or ON in the first block of the operation)
48
5-10 Operation ready OFF and Start OFF at Program operation (At the 1 step × 2 blocks program , “Operation preparation OFF" occur in the first block
and “program start off” occur the 2nd block.)
49
5-11 Alarm output and alarm reset during program operation (At the 1 step × 2 blocks program ,the alarm occurs in the middle of first block , if that was allowed
to restart after the alarm reset)
50
5-12 Tightening angle sampling operation (It will start the operation at the tightening angle sampling start signal turn ON in the state of Completion
of operation preparation.)
51
6. Setting 6-1 Display / setting function It will display the each kinds data, parameters and condition by the 7SEG.LED 6-digit.
You can change the settings in the push-button operation.
6-1-1 About the viewpoint of the display
52
6-1-2 Operation the display unit
※important※
GSK driver you need to set the the axis number (1 to 30 decimal) in order to identify each axis.
If you use the driver in two or more axes, please set the axis number in the following way
by operating the panel. In the case of Axis 1: You set the axis number to d00177 and write the number data.
(1-axis type of driver the same)
In the case of Axis 2: You set the axis number to d10177 and write the number data.
Please set so as not to overlap with the axis number of the driver.
If you use the two-axis type of driver, and you don’t connect the motor, please set the axis number to 0 (not used).
53
6-1-3 Setting example For GSK · GSKW, each parameter can be changed by using the bottom button of 7 SEG display part.
Here, we will explain the setting of representative parameters using 7 SEG display by using several examples.
For the setting place etc. of each parameter, please refer to paragraph 7.
※Procedure of setting axis number When assembling equipment with GSK, you have to recognize each axis to number of each axis's own number.
Here, the setting procedure is shown below.
54
※Please set the controller axis numbers so that they do not overlap.
55
※Procedure to erase the 7 segment display of W type unused axis There are circumstances such as using only one axis when using W type.
If you don’t set the axis number, you can use W type as it is.
However, 7 SEG on the unused axis continues to discharge the sensor unconnected alarm.
(In this case, you can ignore the alarm and tighten the screw.)
Here is the procedure for setting to erase the indication of the unused axis which discharges the alarm.
※This setting procedure is available only after GSK version "1851-2.18".
Please note that the display on the 2 axes side will not disappear even if this setting is made in earlier versions.
56
※Procedure of changed tightening sampling stop torque It setting When you set the tightening method from the PC, there is a sampling setting as a method for making that setting.
Here, we show how to set the target torque of the sampling operation to automatically collectthe tightening information
with the setting method.
(The tightening sampling stop torque has an initial value of 0.
For that reason, sampling setting can not be used unless that it sets the torque by this procedure.)
57
※Procedure to change overload alarm threshold This alarm is output when the average motor current exceeds the overload alarm threshold.
Here we show how to read the average current value of the motor, the rated current value of the motor,
and how to set the threshold based on it.
58
59
60
6-2 Program configuration
61
7. Setting function details 7-1 Fn.** display setting function list It can set internal data and modify and monitor at the panel surface of the GSK controller.
Select data Matter of display data Remarks
Fn0-00 Status of 2-axis motion Special display
Fn 0-01 I / O status Display in the code the state of the DI and DO
Fn 0-02 Product Model "021.0xx" xx is No. N upper two digits
Fn 0-03 Firm-ware program number ―
Fn 0-04 Firm-ware version number ―
Fn 0-05 At the hours, minutes, and seconds It displays the current time
Fn 0-06 date It displays the date
Fn 1-00~42 The first axis of the screw tightening
result monitor ―
Fn 2-00~42 The second axis of the screw
tightening result monitor ―
Fn 3-00~19 M-Net input / output monitor Monitor the status of GSK-IF
Fn 4-00~01 Operation instruction from GSK controller (Note 1)
Fn 5-01~30 Setting the unit number (Note 1)
Fn 6-00~19 Setting of the I / F parameter (Note 1)
Fn 7-00~03 Setting the ID controller (Note 1)
Axx-yy Parameter of the "SOC.T" operation xx < 50 , yy < 16:(Note 1)
Lxx-yy Parameter of the "PRET" operation xx < 50 , yy < 32:(Note 1)
Gxx-yy Parameter of the "REV.T" operation xx < 50 , yy < 16:(Note 1)
Hxx-yy Parameter of the "REA.T" operation xx < 50 , yy < 48:(Note 1)
Uxx-yy Parameter of the "RATE" operation xx < 30 , yy < 10:(Note 1)
Xxx-yy Parameter of the "X-axis RATE" operation xx < 30 , yy < 16:(Note 1)
Yxx-yy Parameter of the "Y-axis RATE" operation xx < 30 , yy < 16:(Note 1)
Pu.xxx.y XY position movement point coordinates u:1~4 xxx< 288 y< 2(Note 2)
d0xxxx Any data monitor of the 1th-axis 3 < xxxx ≦ 200: Can be changed(Note 3)
d1xxxx Any data monitor of the 2th-axis 3 < xxxx ≦ 200: Can be changed (Note 3)
r0xxxx The 1th axis of history data monitor Address of FRAM , Data of 0xxxxh
r1xxxx The 2th axis of history data monitor Address of FRAM , Data of 1xxxxh
※ Note 1: When the data selection mode, the data sent to the controller in the long press "←".
※ Note 2: The u is a unit number, xxx is a point number, y = 0 is an X coordinate, y = 1 is a Y coordinate,
and xxx> = 255 data is a limit coordinate data
※ Note 3:At time of data selection mode, it save the data of xxxx <200 in the long press of the "←"
Axis number setting (d0xxxx)
GSK driver you need to set the the axis number (1 to 30 decimal) in order to identify each axis.
Please set the following parameters to manipulate the case of a two-axis for the driver panel.
In the case of Axis 1: Write to set the axis number to d00177. (Same as 1-axis type driver)
In the case of Axis 2: Write to set the axis number to d10177.
Please set so as not to overlap with the driver axis number.
Please set the axis number to 0 (not used) or, if you do not want to connect the motor in the two-axis type of driver.
62
7-2(d-00***, d-10***)Driver parameter setting for each axis Here you can change the key parameter information of the driver amplifier.
Enter the following address numbers in the * part of (d-00 ***), and it switches to the input screen with the H / D button.
(Refer 6-1-2.)
Address Name Matter Unit
036 Speed limit This sets the maximum value of the rotational speed. rpm
064 Method of return to origin 0: If you are detected using the LSW and the sensor
1: Collision formula ―
065 Set position data after the return
to origin
Collision type: Home position return amount
LSW type: Setting position after return to origin ―
066 Origin return start direction Starting rotary direction of homing operation
0: positive direction 1: negative direction ―
068 Home position return speed Home position return start speed rpm
069 Creep rate Home position detection speed rpm
070 Collision time Contact time in collision type origin detection msec
071 Collision torque Contact torque in collision type home position detection
This is set as a percentage of motor rated current %
084 Monitor 1 ID Data of the set ID is converted to an analog signal and output
from the M1 terminal ―
085 Monitor 1-scale This sets the scale of the monitor 1 output. ―
086 Monitor 2 ID Data of the set ID is converted to an analog signal and output from
the M2 terminal ―
087 Monitor 2-scale This sets the scale of the monitor 2 output. ―
104 Overload alarm detection
current
If the average value of the motor current exceeds this setting, it
outputs an overload alarm.
This is set as a percentage of motor rated current.
%
105 Acceleration alarm detection
speed
This outputs an acceleration alarm when the increase
in rotational speed exceeds this set value. rpm
114 RESOLVER_START_OFFSET
Since the resolver signal is an analog signal, a delay occurs
before it is reflected in the operation.
The start is delayed by this setting value so that the influence
of the delay is reduced.
1/30μsec
140 Sensor type NR : 2 Positioning : 7 etc ―
141 Sensor resolution Normal NR : 256 High speed NR: 1024
Positioning motor :16384 ―
142 Sensor resolution magnification This sets the resolution factor of the sensor.
NR, positioning encoder, positioning resolver: 4 ―
144 Motor rated current
This shows the rated current of the connected motor.
The ratio of the overload alarm detection current to the value
displayed here is the overload alarm detection current threshold.
Arms
160 Gear abnormality determination
count (continuous) This sets the number of occurrences (accumulated or continuous)
to determine as an alarm when a gear abnormality is detected ―
161 Gear abnormality determination
count (cumulative)
163 PRE.T tightening torque-free
monitoring time
This sets the torque-free monitoring time of the PRE.T. msec
165 Minimum slope judgment value It is judged as abnormal when the slope is smaller
than this setting value multiplied by -1. %
166 Bolt fracture criterion value This sets the sudden torque change rate that occurs at the end
of PRE.T and REA.T as the judgment value of bolt breakage. %
168 Polarity of tightening waveform
This reverses the output polarity of the entire waveform
by selecting 1.
※ Please use when you select a left rotation.
―
169 Torque-free monitoring time This sets the torque-free monitoring time in the case
of the operation other than the REA.T and PRE.T. msec
170 Zero magnification check wait
time This sets the waiting time until the torque signal is received after the zero magnification check signal is output
msec
174 Tightening angle sampling
torque
This sets the torque value that is judged to be seated
in the tightening angle measurement operation. Nm
177 Axis number You enter the axis number of each corresponding to the driver.
※Please set immediately after the driver mounting. ―
63
Address Name Matter Unit
178 Axis type
This sets whether the axis of this driver amplifier is used
as a nut runner or as a positioning motor.
1: Nut runner 2:X axis motor 3:Y axis motor
※This is set before operation check.
Unlike axis number, it can be set by PC setting software.
―
179 Socket torque limit This sets the current limit at socket removal operation
(inching operation) by a percentage of the motor's rated current. %
364 Motor average current
This is the effective value of the current flowing through
the motor.
An alarm is output when this current exceeds
the current alarm threshold.
Arms
1003 Current position of angle sensor This shows the current position of the angle sensor attached
to the connecting motor. ―
※Important items
177 (Axis number): Setting is required when the controller is installed in the equipment.
Be sure to set this when replacing or installing a new controller.
64
7-3 SOC.T setting It is the setting for performing screw tightening before the preparation operation. (Numbers 1 to 50)
Bolt picked up, it performs a gear check, fitting, etc., and then to state that can be screw-tightening.
Number is the number of the case to be set from GSK driver panel (Axx-yy)
No.
(yy) Matter Unit
No.00 Angle
This sets the end angle of this operation. 1 °
No.01 Speed
This sets the rotational speed of this operation. 1rpm
No.02
Socket alignment operation/ Direction, Fitting, Gear checked
00*□
|+―― Socket fit/ Designation of rotational direction
| 0:Tightening direction
| 1:Loosing direction
+――― Non torque check / Fitting/ Gear checked
0:Non torque check
1:One shot reverse
2:Fitting
3:Gear checked
―
No.03
Detection torque
During the rotation, it reaches the set value, and exit the rotation.
If you do not reach even beyond the cut angle will be the "fitting angle over".
0.1Nm
No.04 Before time
This starts operation after the set time has elapsed from the socket alignment operation start. 1msec
No.05
Overtime
If it is operating after the set time has passed from the socket alignment operation start,
this ends the operation and outputs "overtime NG". (Not including before time)
1sec
No.06
Height check operation
This sets whether to check the height and how many times to retry when it is done.
The setting is made with 4 digits in hexadecimal (■ ■ □ □).
High-order digit (■■): Height check 0: None 1: Yes.
Lower digit (□□): NG retry count 0 to 255 (FFh)
―
No.07
Upper limit of height check
This is the height for retry judgment.
Check the height of Z axis after executing socket alignment.
And if the result is higher than this setting value, socket adjustment will be performed again.
0.1mm
No.08
Lower limit of height check
This is the height for trial judgment.
After executing socket alignment, check the height of Z axis.
If the result is lower than this setting value, output NG immediately and advance to the next
block.
0.1mm
~No.15 Reserve ―
65
7-4 PRE.T setting This setting is for rotating at high speed and moving the screw to the seating position. (No. 1 to 50)
The number is the number when setting from the GSK controller panel (Lxx-yy)
No.
(yy) Matter Unit
No.00 Rotation angle
It sets the angle to rotate at the screw adjustment speed. 1 °
No.01 1th speed
It sets the rotation speed while turning at rotation angle. 1rpm
No.02
Fast-forward angle
It sets the rotation angle at the Fast-forward speed.
After the rotation angle on screw adjustment is complete, this angle starts.
1 °
No.03 2th speed
It sets the rotation speed during the fast forward. 1rpm
No.04
Closed fast decision torque
If this torque is reached between the start and the end of the fast-forward angle, the fast-
tightening judgment becomes invalid.
0.1Nm
No.05 Pre-tightening torque
It is the target torque of the pre-tightening. 0.1Nm
No.06 Torque upper
limit If the torque value is not within the range at the time of stop,
"Pre-tightening torque over" or " Pre-tightening torque under" NG is output.
0.1Nm
No.07 Torque lower
limit 0.1Nm
No.08 End torque of 3th speed (upper byte)
This torque switches to the 4th speed. 0.1Nm
No.09 3th speed
It is the speed before the screw is fastened after fast forward. 1rpm
No.10 4th speed
It is the final fastening speed of this process. 1rpm
No.11
Over time
If the pre-tightening torque is not reached from the start of this process until this set value,
the rotation stops when this set time is reached and "over time" NG is output.
This time setting prevents mistakes.
1sec
No.12 Judgment area ★
Judgment area in the graph of angle and torque, is the integral value of the torque waveform. ―
No.13
Measurement invalid range
This sets the range to disable the area measurement.
The corresponding area will be from the pre-tightening start to this setting angle.
1 °
No.14 Measurement angle
The area is judged from the measurement start point to the set value. 1 °
No.15 Before time
This starts operation after the set time has elapsed from this operation start. 1msec
No.16 Time upper
limit ★ If the time value is not within the range at the time of stop,
"Pre-tightening time over" or " Pre-tightening time under" NG is output.
1msec
No.17 Time lower
limit ★ 1msec
No.18 Angle upper
limit ★ If the time value is not within the range at the time of stop,
"Pre-tightening angle over" or " Pre-tightening angle under" NG is output.
0.1 °
No.19 Angle lower
limit ★ 0.1 °
No.20
Torque-free monitoring time
This sets the time from the start of the pre-tightening until the start of torque monitoring.
It does not measure the torque from the pre-tightening start until this set time.
It is a setting to prevent misjudgment by picking up torque fluctuation
at the start of rotation.。
1msec
No.21
Measurement start torque ★
Measurement of tightening time and tightening angle starts after detection of the arrival at
this set torque.
If the torque does not reach this setpoint, the above time and angle will be the value
from this motion start.
0.1Nm
66
No.
(yy) Matter Unit
No.22
Pre- tightening cut angle
It stops when it reaches this set angle from measurement starting torque.
This setting uses angles to prevent mistakes.
1 °
No.23
Stall time ☆
In the case of current control after reaching the cutting torque, in order to stabilize the
tightening torque, it is necessary to hold that torque for a fixed time.
This sets the time to hold that.
1msec
No.24
Speed 4 switching distance (for Z axis pressing control)
When the current Z-axis coordinate reaches this value due to fast-forwarding, etc.,
the rotation speed is switched to speed 4.
0.1mm
~No31
Reserve ―
Pre-tightening reference waveform
67
7-5 REV.T setting You use the seating detection determined that the burning decision.
Number is the number of the case to be set from GSK driver panel (Gxx-yy).
No.
(yy) Matter Unit
No.00 Judgment torque
If this torque is exceeded when reaching the measurement angle, NG is output. 0.1Nm
No.01 Reverse angle
This sets the angle to rotate in the reverse rotation. 1 °
No.02
The 1th speed
This sets the 1th speed of reverse rotation.
(Usually to a smaller value than the 2th speed)
1rpm
No.03
Measurement angle
Before the end of the reverse rotation operation, torque judgment is performed
when this set angle is reached.
This sets the angle from the start of reverse rotation operation.
Please set so that it becomes smaller than reverse rotation angle.
1 °
No.04
Passing torque
If there is no condition beyond this set value during reverse rotation operation,
"reverse rotation passing torque NG" will be obtained.
(It becomes NG when tightening an unclamped bolt etc.)
0.1Nm
No.05
Baking torque
When the torque reaches the set value during the reverse rotation process,
it becomes "reverse seizing torque NG".
It becomes NG when the pre-tightening torque is too large or
when the screws are seized to not loosen.。
0.1Nm
No.06
Overtime
When this set time has elapsed from the start of reverse rotation, if it is in operation,
it outputs NG and ends the operation. (Excluding before time)
1sec
No.07
Speed 1 End angle
When this set angle is reached, the speed is switched from the first speed
to the second speed.
1 °
No.08
The 2th speed
It sets the reverse rotation second speed after removing the torque.
(It is usually set to a value larger than the first speed)
1rpm
No.09 Before time
This starts operation after the set time has elapsed from this operation start. 1msec
Reverse tightening reference waveform
68
7-6 REA.T setting It is set for a final tightening of the screws. (Numbers 1 to 50)
This tightening will choose from two types of torque method / angle method.
However, if it is set without torque sensor, selection methods tightening of No.00 is ignored.
(Or without torque sensor is set in the driver parameters.)
Method Exit conditions
Torque method Until it reaches the cut torque, to rotate at a specified speed.
Angle from the snug torque, to determine the time result.。
Angle method
From the snug torque, it will rotate at the specified speed
until it reaches the cut angle.
Torque, time, torque gradient also determined.
No torque sensor In this method, the motor current value is converted to torque, and
tightening is performed using the torque method.
Number is the number of the case to be set from GSK driver panel (Uxx-yy).
★ GKL should fix the value to 1.
☆ GSK should fix the value to 0.
No.
(yy) Matter Unit
No.00 Mode ★ (In GKL angle method can not be used)
0: Torque method 1: Angle method ―
No.01
Torque
method Real tightening torque: This torque is the target of this tighterning. 0.1Nm
Angle
method Stop torque: It is a stop torque to prevent the bolt from twisting. 0.1Nm
No02.
Torque
method
Measurement start torque ★: With this setting it begins measuring angle
and time. 0.1Nm
Angle
method
Snag torque: It starts clamping plastic zone from this torque.
It also starts measuring angle and time. 0.1Nm
No.03 Speed 1: It is the speed at the start in this process. Normally set about 50 to 80 rpm.
The tightening angle is also shown when tightening with only this process. 1rpm
No.04 Speed 1 End angle: It rotates at speed 1 until this set angle is reached.
When it reaches this angle, it switches to speed 2. 1 °
No.05 Speed 2: This is the tightening speed in this process.
20 - 50 rpm is recommended. 1rpm
No.06
Over time:
When this set time elapses from the start of the process, the process is terminated.
It outputs overtime NG when it ends.
(It is excluded from time).
1sec
No.07 Torque upper limit: It sets the allowable upper limit of cut torque or stop torque. 0.1Nm
No.08 Torque lower limit: It sets the allowable lower limit of cut torque or stop torque. 0.1Nm
No.09
Torque
method
Stop angle★:
This is a setting to interrupt this process.
It functions to not break the machine
when the torque does not reach the target value due to some trouble.
1 °
Angle
method
Tightening angle: This is the rotation angle from the snug torque.
This sets the target angle. 1 °
No.10 Before time: It delays the start of this process by the set value of time. 1msec
No.11
Time upper limit★: It sets the allowable upper limit of the time.
Unlike Overtime, this time is measured
from the "measurement starting torque" or “Snag torque”.
1msec
No.12
Time lower limit★: It sets the allowable lower limit of the time.
Unlike Overtime, this time is measured
from the "Measurement starting torque" or “Snag torque”.
1msec
No.13
Angle upper limit★: It sets the allowable upper limit of the angle.
Unlike Overtime, this time is measured from the "Measurement starting torque" or “Snag torque”.
0.1 °
No.14
Angle lower limit★: It sets the allowable upper limit of the angle.
Unlike Overtime, this time is measured
from the "Measurement starting torque" or “Snag torque”.
0.1 °
69
No.
(yy) Matter Unit
No.15
Closed fast decision angle:
If the measurement start torque is detected earlier than this set angle,
"fast-tightening NG" is output.
In this case, fast-tightening refers to a state in which the screw hole is crushed
and the screw is not tightened.
1 °
No.16 Torque-free monitoring time: It will not monitor the torque for the set time
from the start of the process. 1msec
No.17
Judgment area ★:
Judgment area is in the graph of angle and torque.
It is a setting for judging screw failure, and if it exceeds this value,
it will be "screw failure".
Please refer to the measured value in the online etc of the automatic measurement
for the setting.
―
No.18
Torque
method Reserve★ ―
Angle
method
Snag torque upper limit: It is the upper limit value of snug torque.
If this value is exceeded, "snug torque over NG" is output. 0.1Nm
No.19
Torque
method
Zone judgment★:
It sets whether to perform the zone judgment. ―
Angle
method
Snag torque lower limit:
It is the lower limit value of snug torque.
If this value is exceeded, "snug torque under NG" is output.
0.1Nm
No.20
Torque
method
Zone judgment range ★:
It is one of the screw judgment.
We select the range of zone judgment from the following.
"No zone monitoring" ⇒ Zone judgment is not performed.
"Zone lower limit ignored" ⇒ The lower limit value is not judged
at zone judgment.
"Zone upper limit ignored" ⇒ The upper limit value is not judged
when zone judgment is made.
"Zone normal monitoring" ⇒ Judge by the upper limit value and
the lower limit value when judging the zone.
―
Angle
method
REA.T passing torque:
It is a torque to judge whether abnormality occurred during tightening.
It is judged below this value after passing the snug torque.
0.1Nm
No.21
Torque
method
Zone starting point ★:
We set the torque value at the start of zone judgment. 0.1Nm
Angle
method
Gradient decision:
It sets whether to make gradient judgment.
0: None 1: Execution
―
No.22
Torque
method
Zone starting point tolerance ★:
We set the range of start torque for executing the zone judgment. 0.1Nm
Angle
method
Gradient sampling number:
The width of one sampling is represented by this set value X 0.5 °. 1time
No.23
Torque
method
Zone end point ★:
It sets the angle of judgment range at zone judgment. 0.1 °
Angle
method
Moving average number:
It sets how many times sampling is done in increments of 0.5 °. 1 回
No.24
Torque
method
Zone end point tolerance ★:
It sets the intersection angle of the end point for the zone judgment. 0.1 °
Angle
method
Gradient decision upper limit:
It sets the upper limit value for gradient judgment. 1%
No.25 smoothing tightening ★: It sets whether to perform smoothing tightening.
0:None 1: Execution
―
No.26 Initial speed ★: It sets the speed at the start of smoothing tightening. 1rpm
No.27 Torque
method
Cut torque at the speed ★:
It sets the speed at which the cut torque is reached during smoothing tightening. 1rpm
70
No.
(yy) Matter Unit
Angle
method
Snug torque speed:
It sets the speed at which the snag torque is reached
during smoothing tightening.
1rpm
No.28
Speed 3, 4 additional mode:
It sets whether to use Speed 3 and 4.
0:None 1: Execution
―
No.29 Speed 3 switching angle:
When this angle is reached, speed 3 is switched. 1 °
No.30 Speed 3: It will be the speed when you are seated in Speed 3, 4 mode. 1rpm
No.31 Speed 4 switching torque:
When this torque is reached it switches from Speed 3 to Speed 4. 0.1Nm
No32 Speed 4:
It is the final tightening speed in speed 3, 4 mode. 1rpm
No.33
Torque
method
Stall time☆: When the torque sensor is not used, it sets the time to hold the tightening torque
in order to fix the torque.
1msec
Angle
method
Gradient decision lower limit:
It sets the lower limit value for gradient judgment. 1%
No.34
Torque
method
Over cut time ☆:
If tightening is not completed before exceeding this angle, NG will be output. 1 °
Angle
method Reserve★ ―
No.35
Speed 4 switching distance (for Z axis pressing control)
When the current Z-axis coordinate reaches this value due to fast-forwarding, etc.
in the speed 3, 4 additional mode, the rotation speed is switched to speed 4.
0.1mm
~No.47
Reserve ―
※ Priorities of behavior is "with smoothing tightening"> "Speed 3, 4, additional mode"
71
Tightening wave and Zone judgement
72
ABOUT GRADIENT JUDGMENT
73
7-7 Rate setting It is the basic settings for the nut runner axis. (Number 1 to 30)
Please set a value corresponding to the motor and sensors to be used in the nut runner.
Number is the number of the case to be set from GSK driver panel (Uxx-yy).
No. Matter Unit
No.00
Torque sensor rate/Current sensor rate
・Torque sensor exist: Set the torque at the time of the torque sensor output 10V.
・Torque sensor none: Set the nut runner shaft end torque of that
which causes a momentary maximum current to the motor.
0.1Nm
No.01
Tightening direction/Nut runner format
The following Bit allocation in hexadecimal data
F E D~8 7~0
0 Tightening
direction
Sensor type
(Note 2)
Nut runner type
(Note 1)
Tightening direction
0: Tightening in the right rotation looking at the motor from the encoder side.
(tightening in the motor shaft end CCW rotation)
1: Tightening in the left rotation looking at the motor from the encoder side.
(tightening in the motor shaft end CW rotation)
―
No.02
Limit over
This sets the value variation tolerance for every zero magnification check.
The output value in the previous zero-fold check is compared with the current output value.
If the difference exceeds the set value, "zero offset fluctuation anomaly"
and "multiplication fluctuation anomaly" will be generated respectively.
(Torque sensor: about 2% of rated, current sensor: about 10% of rated)
0.1Nm
No.03
Set over
This sets the tolerance of the zero point output value and the magnification output value
at the time of zero-magnification check.
If the zero point output exceeds [(zero point preset) ± (set over)]
or the magnification output exceeds [(magnification preset) ± (set over)],
“zero offset error” or “magnification error” will occur.
(About 5% of torque sensor rating, current sensor: about 20% of rating)
0.1Nm
No.04
Zero preset
This sets the output voltage without torque sensor load in terms of torque.
Normally, this is set to "0".
0.1Nm
No.05
Magnification preset
This is set by converting the output voltage at torque sensor magnification check.
Normally, it is set to 1/2 of the "torque sensor rating".
0.1Nm
No.06
Gain correction
This is used to correct the output (slope) of the torque (current) sensor.
If not corrected, this item is set to 1/2 of the "Sensor rating". The corrected torque value is calculated by the following formula.
The smaller the gain correction value, the higher the actual torque value.
0.1Nm
No.07
Reduction ratio
This sets the gear ratio of the nutrunner.
Please set the mechanism to rotate once when the motor shaft rotates by the set value.
0.1rev
No.08 Motor model (Note 3) ―
74
(Note 1).About Nut runner type
Nut runner type Value Nut runner type Value
ANCKH-150 15 ANZM-7000 56
ANCKH-350 10 ANZM-9000 57
ANCKH-600 17 ANZM-12000 75
ANCKH-1000 18 ANZM-15000 60
ACKHM-200 33 ANZM-20000 36
ACKHM-500 39 ANZMH-200 46
ACKHM-400 42 ANZMH-450 49
ACKHM-700 52 ANZMH-900 62
ANZM-50 44 ANZMH-1500 54
ANZM-250 43 ANZMH-9000 65
ANZM-350 45 ANZMSH-130 68
ANZM-500 47 ANZMSH-150 83
ANZM-850 48 ANZMSH-500 73
ANZM-1600 50 ANZMSH-700 64
ANZM-2000 51 ANZMSH-2000 71
ANZM-3000 53 ANZMKSH-40 80
ANZM-3500 63 LUR-1000 84
ANZM-5000 55 OTHER 99
(Note 2).About sensor type
Sensor type Value Sensor type Value
NON 0 7000 11
100S 1 7500 12
200 2 8000 13
250 3 12000 14
350 4 15000 15
500 5 20000 16
850 6 ANMSH-13 17
1500 7 AZM-40SH 18
2500 8 AZMSH-70 19
4000 9 AZMT-150 20
5000 10 OTHER 21
(Note 3).About motor model
Motor model Value Motor model Value
TS4129N2820E230 0 TS4614N6920E102 13
TS4509N2825E203 7 TS4617N1520E203 14
TS4515N2820E202 8 TS4617N1920E203 15
TS4603N1920E203 9 TS4618N1920E203 16
TS4603N1925E203 10 TS4619N1920E203 17
TS4609N1920E203 11 TS4619N1922E207 18
TS4612N1920E601 12 TS4839N2820E235 19
75
7-8 X-axis rate setting This is a basic setting for the X axis. (No. 1 to 30)
Please set the motor type and moving speed etc. used by the X axis.
X axis rating numbers 28 to 30 have special meanings.
・ No. 28 is used by the manual JOG operation.
・ No. 29 is used when the specified point and JOG start signal are input.
・ No. 30 is used when the X return signal is input.
Number is the number of the case to be set from GSK driver panel (= xx-yy).
No.
(yy) Matter Unit
No.00 Acceleration time constant
This sets the acceleration when moving the position. 10rpm/s
No.01 Deceleration time constant
This sets the deceleration when moving the position. 10rpm/s
No.02 Moving Speed
It set the movement speed at the time of position movement. 1mm/s
No.03
Point ± detection range
When the current coordinate is within the range "X-coordinate ± the set value of the points",
GSK driver determines that the move to the specified point has been completed.
0.1mm
No.04 Range output 1
lower limit When the current X-axis coordinate is within the range of this setting,
the output signal "X range output 1" will turn ON. 1mm
No.05 Range output 1
upper limit
No.06 Range output 2
lower limit When the current X-axis coordinate is within the range of this setting,
the output signal "X range output 2" will turn ON. 1mm
No.07 Range output 2
upper limit
No.08 Travel distance when the motor rotates once
This sets the amount of movement when the motor makes one revolution.
0.001
mm/rev
No.09 Motor model
It is set the motor model. (See the motor model list(Note 1)) ―
No.10
Source direction of rotation
When the position is increased in the positive direction,
and set whether the motor is turning in any direction.
0000:CW direction as viewed from the rear of the motor
0001:CCW direction as viewed from the rear of the motor
―
No.11
S-curve acceleration setting
This is to set the acceleration / deceleration pattern of the positioning motor.
[Bit15-12] acceleration / deceleration pattern 1:Normal 2:S-curve
―
[Bit11-0] S-curve acceleration time constant
This sets the fluctuation range of acceleration / deceleration at S-curve control. msec
(Note 1)Motor model list
Motor model Value
TS4603 3
TS4604 4
TS4607N2088 5
TS4609 6
TS4607N3222 7
TS4612 9
TS4610 10
TS4606 11
TS4612N3222 12
TS4613N3222 13
TS4614N6920 14
TSM4104N2820 15
TSM4104N7820 16
TSMB 17
TSM 18
76
7-9 Y-axis rate setting This is a basic setting for the X axis. (No. 1 to 30)
Number is the number of the case to be set from GSK driver panel (= xx-yy).
No.
(yy) Matter Unit
No.00 Acceleration time constant
This sets the acceleration when moving the position. 10rpm/s
No.01 Deceleration time constant
This sets the deceleration when moving the position. 10rpm/s
No.02 Moving Speed
It set the movement speed at the time of position movement. 1mm/s
No.03
Point ± detection range
When the current coordinate is within the range "X-coordinate ± the set value of the
points", GSK driver determines that the move to the specified point has been completed.
0.1mm
No.04 Range output 1
lower limit When the current Y-axis coordinate is within the range of this setting,
the output signal "Y range output 1" will turn ON. 1mm
No.05 Range output 1
upper limit
No.06 Range output 2
lower limit When the current Y-axis coordinate is within the range of this setting,
the output signal "Y range output 2" will turn ON. 1mm
No.07 Range output 2
upper limit
No.08 Travel distance when the motor rotates once
This sets the amount of movement when the motor makes one revolution.
0.001
mm/rev
No.09 Motor model
It is set the motor model. (See the motor model list(Note 1)) ―
No.10
Source direction of rotation
When the position is increased in the positive direction,
and set whether the motor is turning in any direction.
0000:CW direction as viewed from the rear of the motor
0001:CCW direction as viewed from the rear of the motor
―
No.11
S-curve acceleration setting
This is to set the acceleration / deceleration pattern of the positioning motor.
[Bit15-12] acceleration / deceleration pattern 1:Normal 2:S-curve
―
[Bit11-0] S-curve acceleration time constant
This sets the fluctuation range of acceleration / deceleration at S-curve control. msec
77
7-10 Point seting It will remember the XY coordinates of each unit in the form of a point number.
If GSKIF instructs the move to GSK driver, specify the point number, not the coordinate value.
Number is the number of the case to be set from GSK driver panel (= x-yyy-z). The x is the unit number (1 ~ 4), yyy is point number (1 ~ 255), z indicates the axis type.
No.
(yy) Matter Unit
No.000
~
No.254
Point coordinate value (point number 1 to 255)
: It sets the coordinate value of the point of X (or Y) axis to here.
※ As for axis type, 0 is X axis and 1 is Y axis.
0.1mm
No.255 Reserve ―
No.256 ※This function is currently unavailable. ―
No.257 It sets the coordinate value of the upper limit in the operation according
to the unit number and axis type etc. ―
No.258 ※This function is currently unavailable. ―
No.259
~
No.266
※This function is currently unavailable. ―
No.267 ※This function is currently unavailable. ―
No.268 It sets the coordinate value of the lower limit in the operation according
to the unit number and axis type etc. ―
No.269
~
No.287
Reserve ―
78
7-11 (Fn.01)Tightening result monitor of 1st axis No. Matter
Fn.1-00~42 This displays the tightening result of the first axis.
This function is for confirmation only.
Please note that the content can not be changed.
7-12 (Fn.02)Tightening result monitor of the 2nd axis No. Matter
Fn.2-00~42 This displays the tightening result of the second axis.
This function is for confirmation only.
Please note that the content can not be changed.
79
※Fn.1 および Fn.2 の表示内容 In Fn1-xx and Fn2-xx in the data selection mode, you can check the data on screw tightening of CH1 and CH2.
The following table shows the display contents for the above xx numbers.
締付データ
No.
(xx) Contents
00 Screw number
01 Program number
02 The torque results of socket alignment operating
03 The time results of socket alignment operating
04 The angle results of socket alignment operating
05 The torque results of pre-tightening operation
06 The time results of pre-tightening operation
07 The angle results of pre-tightening operation
08 The torque results of final tightening operation
09 The time results of final tightening operation
10 The angle results of final tightening operation
11 The sample point torque of final tightening operation
12 The final slope ratio of final tightening operation
13 Spare
14 The torque results of reverse operation
15 The time results of reverse operation
16 The angle results of reverse operation
17 Result number
18 The fast-forward torque result of pre-tightening
19 The fast-forward time result of pre-tightening
20 The fast-forward angle result of pre-tightening
21 The area result of pre-tightening
22 The area result of final tightening
23 The initial slope of the final tightening
24 The final slope of the final tightening
25 The gradient ratio of t final tightening ((23) / (24) × 100)
26 The sample point torque result of pre-tightening
27 The total operating time result of the pre-tightening operation
28 The total rotation angle result of the pre-tightening operation
29 The total operating time result of the final tightening operation
30 The total rotation angle result of the final tightening operation
31 The sample point angle result of the reverse rotation
32 The execution time of the program operation
33 Spare
34 Spare
35 The offset torque result of zero magnification check operation
36 Zero preset value of the "rate" parameter
37 The test of the zero magnification check operation
38 The gain correction value of the "rate" parameter
39 The number of running the program operation
40 Position data of the motor[2048/rev]
41 The A / D input value of the torque sensor[2048/10V]
42 (Parameter)typical value of torque sensor preset
You can update the displayed data by pressing and holding the “ ” button for 2 seconds.
80
7-13 (Fn.03)Input / output monitor The displayed content changes according to the value specified in “PLC signal monitor unit” of Fn 6-05 IF parameter.
The display format is fixed to 2 hexadecimal digits.
【When monitor unit = 1 to 6】
This monitors the PLC (including M-NET) signal of the specified unit number.
Data No. Data display contents Remarks
Fn3-00~07 Input signal monitor
from PLC
This displays the first 8 bytes of the unit input signal.
The display will be "00" as 05-07 is an unused area.
Fn3-08~15 Output signal monitor
to PLC This displays the first 8 bytes of the unit output signal.
Fn3-16 Active block number ―
Fn3-17
Operating state 1
of each axis
(Nut runner, Z axis state)
Bit7:Z-axis Not Ready※This is turned on
by driving power off etc.
Bit6:Z-axis Operation NG
Bit5:Z-axis In rotation
Bit4:Z-axis In action
Bit3:NR-axis Not Ready
Bit2:NR-axis Operation NG
Bit1:NR-axis In rotation
Bit0:NR-axis In action
【When multiple mode】
If one axis is ON, this indication is ON.
Fn3-18
Operating state 2
of each axis
(X-axis and Y-axis state)
Bit7:Y-axis Not Ready
Bit6:Y-axis Operation NG
Bit5:Y-axis In rotation
Bit4:Y-axis In action
Bit3:X-axis Not Ready
Bit2:X-axis Operation NG
Bit1:X-axis In rotation
Bit0:X-axis In action
Fn3-19
Operating state 3
of each axis
(Z axis state (position))
Bit7-6:Fixed to 0
Bit5 :Z-axis position is the down limit
(same as output signal "Z-axis position 2")
Bit4 :Z-axis position is the upper limit
(same as output signal "Z-axis position 1")
Bit3-2:Fixed to 0
Bit1-0:Z-axis pressing condition
(0: OFF 1 to 3: pressing force during operation)
81
【Monitor unit = 0】
This monitors the internal state of GSK interface.
※ All indication is hexadecimal number.
No. Matter
Fn3-No0~3
2 digits display IP address of GSKIF of the board for FTP transfer
“<No0>. <No1>. <No2>. <No3>”
※If you set the IP address to "0.0.0.0" in the FTP network settings,
the IP address stored inside the Anybs board will be displayed.
Fn3-No4~7 2 digits display IP address of FTP server (transfer destination)
“<No 4>. <No 5>. <No 6>. <No 7>”
Fn3-
No8~11
2 digits display IP address of GSKIF of board for PLC connection
(for PROFINET or EtherNet / IP)
“<No8>.<No9>.<No10>.<No11>”
※If you set the IP address to "0.0.0.0" in the FTP network settings,
the IP address stored inside the Anybs board will be displayed.
Fn3-No12
2 digits display FTP status display
Value Upper
(Last FTP transfer result)
lower
(Current FTP transfer status)
0 Initial state Initial state
1 OK FTP Transfer successful Waiting for retry start
2 NG FTP Start process FTP During start processing
3 NG FTP SERVER CONNECT Connecting to FTP server
4 NG USER COMMAND During USER command
execution
5 NG PASS COMMAND During PASS command
execution
6 NG TYPE COMMAND During TYPE command
execution
7 NG CWD COMMAND During CWD command
execution
8 NG PASV COMMAND During PASV command
execution
9 NG STOR COMMAND During STOR command
execution
A NG DATA CONNECT During data access
B NG DATA TRANSFER During data transfer
C NG FTP CLOSE Exiting FTP
D-F Unused Unused
【Meaning of result】
0: FTP transfer has not been performed even once after power on
1: FTP transfer succeeded
2-3: Could not connect to the FTP server. (LAN cable disconnection, address error etc.)
4 or more: Failed to connect to the FTP server. (Incorrect password etc.)
Fn3-No13 Unused
Fn3-No14 IF alarm detail code (upper)
Fn3-No15 IF alarm detail code (lower)
~Fn3-
No19 Unused
82
7-14 (Fn.04)Operation instruction from GSK controller The Fn.4 writting operation is an operationcommand for GSK interface.
This performs the following operation by setting the operation type to Fn4-00 and the data number to Fn4-01
and pressing the ← button for a long time.
No. Matter Commentary
Fn4-00 Operation type
1: REA.T result print start
2: Special operation
3: FTP transfer test
Fn4-01 Data number
[When operation type = 1]
Unit number (1 to 7).
[For operation type = 2]
Special operation for debugging
1: SETTING. BIN file save (GSKIF ⇒ SD)
[When operation type = 3]
This performs FTP transfer test.
7-15 (Fn.05)Unit setting This sets the relationship between unit number and axis.
The number indicates the axis number (1 to 30).
No. Matter
Fn5.-□□
It is 2-byte data of hexadecimal .
[Bit15-8]Unit number (1 to7, 0 is not connected )
[Bit7-0]Axis type (0: None 1: Nut runner 2: X axis 3: Y axis 4: Z axis)
【Note】
After changing the unit settings, it is necessary to power off GSK-IF once.
The GSK system does not activate unit configuration changes unless the power is turned off.
The unit settings have the following limitations.
・Specify the axes in ascending order of UNIT number.
⇒ Axis 1 / UNIT1, Axis 2 / UNIT1, Axis 3 / UNIT2 are OK.
⇒ Axis 1 / UNIT1, Axis 2 / UNIT2, Axis 3 / UNIT1 are NG。
・Specify the axes in the same unit by order of NR / X / Y / Z.
⇒ Axis 1 / UNIT1 (NR), axis 2 / UNIT1 (X), and axis 3 / UNIT1 (Z) are OK.
⇒ Axis 1 / UNIT1 (NR), axis 2 / UNIT1 (Z), and axis 3 / UNIT1 (X) are NG.
※ It is possible to skip an unused axis and specify.
Axis 1 / UNIT1, Axis 2 / Not connected, Axis 3 / UNIT1 are OK.
83
7-16 (Fn.06)Interface unit setting
No.
(yy) Matter Unit
No.00
Basic setting
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Reserve Reserve Reserve Reserve Reserve Reserve IOB2 SYS
[Bit0]System GSK operation
0: Standard GSK (connect PLC) 1: System GSK(Unused PLC)
[Bit1] Whether to use 2 I/O boards in system GSK
0: Not used(CN14 connector only) 1:Use(CN13/CN14 connector)
[Bit2-7] Reserve
―
No.01
[Quality control PC waveform reading maximum waiting time]
【In case of multi-axis mode】
This setting has no meaning
【Other than multi-axis mode】
This sets the maximum waiting time for loading the waveform
on the quality control PC.
The quality control PC reads the waveform at the end of the block, but it takes time
to read the waveform.
It is a timer value for holding so as not to advance to the next block in the meantime.
1 to 9: Waiting time, 0: Quality control PC disabled
[Operation when waiting time is 1 or more]
This suspends the execution of the next block until the waveform reading of all units
by the personal computer is completed at the end of the block.
⇒Execution of the next block starts when all waveform reading is completed.
In this case, the next block is started earlier than the waiting time.
⇒If the wait time is reached and waveform reading
of all units has not been completed yet, execution of the next block starts.
※Although this setting is for the quality control PC, the same operation is performed
when the setting PC is connected.
If you do not connect the quality control PC, be sure to set 0.
sec
No.02
Screw number for ID output
It sets the maximum number of for a single work
when the connected ID controller is T type.
―
No.03
This sets the communication speed of the personal computer (1 byte data of hexadecimal)
communication speed of setting personal computer (bps)
0:9600 1:19200 2:38400
communication speed of quality control personal computer (bps)
0:19200 1:38400
―
No.04
Setting of the external display (Decimal data)
1th digit: Display valid (0: Invalid 1: Valid)
2th digit: Language switching (0: Japanese 1: English)
※Language will be changed by sending the information
of the language switching to an external display.
―
No.05
M-NET signal monitor unit selection
This select the unit number (1 to 7) to be displayed in GSK driver panel according to the M-
NET signal monitor (Fn03).
If set to 0 will be the state monitoring of GSK interface.
―
No.06
Waveform resolution to an external display
The resolution of the waveform data when transmitted to an external display in 0.5-degree
increments.
(For example, 0.5 degrees: 05, 1.0 degrees: 10, 1.5 degrees: 15, 2.0 degrees: 20)
0.1degree
84
No.
(yy) Matter Unit
No.07
Communication speed of the external display (bps)
0:38400 1:57600 2:76800 3:115200
【Note: the operation of the later version 1721-141】
When the power is ON it will connect at the optimal speed to check
the communication speed of the display.
This setting is the default communication speed in the case of the connection
between the power is turned ON display it could not be confirmed.
Please combine this setting with the communication speed of display as possible.
―
No.08
Print Settings (hexadecimal data)
This sets the conditions relating to the printer output.
BIT7: new line code specified (0: LF 1: CR + LF)
BIT6-3: unused
BIT1-0: Auto Print selection
(00: N / 01: every time 10: NG at the time / 11: First N stand + when NG)
―
No.09
Online print mode
BIT5: print format (0: Standard 1: Jamco specification)
BIT4: zero magnification result print presence or absence
BIT3: Print the presence or absence of this tightening results
BIT2: Print the presence or absence of the reverse result
BIT1: Pre-tightening result print presence or absence
BIT0: socket alignment prints presence or absence
―
No.10
Initial number
This is the number from the start of automatic operation to perform online printing.
This setting is enabled when "Automatic print selection N first time" is selected in Fn 6-08.
―
No.11
QL setting ※This function is effective after Version 1721-170.
BIT0 : QL treatment contents
0: 1 time (NG screw only) 1: 2 times (all screws QL after NG screw)
―
No.12
PLC setting
This sets the IO size etc. of the PLC connected to the Ayabus board.
Please set the parameters according to the PLC to be connected.
The meaning of each value differs depending on the Anybus board.
For details, refer to the specifications for each sequencer.
―
No.13
Special equipment type]
This specifies the setting with Bit when running GSK-IF
with special equipment configuration.
Bit 7-6: Fixed to 0 (Be sure to set this to 0 because this is for checking
that the backup area has been cleared.)
Bit 5-2: Spare
Bit 1: Special equipment 2
Bit 0: Special equipment 1
※Use only in the case of the following equipment configuration. Normally, "0" should be set.
[Special equipment 1]:This setting is used to connect two GSK-IFs to one display.
This setting is set on the sub side of the two GSK-IFs to be connected.
[Special equipment 2]
This is a special equipment configuration where all unit settings are nutrunners but use
specific axes as positioning.
・ Position movement is performed by the command of the nut runner.
・ Special unit is specified by Fn06-14.
⇒This unit does not notify the tightening result to ID or Display.
⇒It does not affect the axis alignment screen clear timing of Display etc.
(This is treated as an independent unit.)
―
85
No.
(yy) Matter Unit
No.14
[Parameters for Special Equipment]
Value of No.13 Meaning
1(Special equipment 1) Unused
2(Special equipment 2)
A special unit that moves the position in the setting
of the nutrunner is specified in Bit
(Bit0 = UNIT1, bit1 = UNIT2, ..., Bit6 = UNIT7)
―
No.15
PLC setting 2
Extended setting for PLC operation
[In the case of MNET]
It is fixed to 0. (This setting does not have meaning)
[In case of PLC using Aybus board]
GSK operation differs depending on the type of board to be connected.
For details, please refer to the specifications for each communication method.
sec
No.16
This is two-digit data in hexadecimal.
Upper digit:
[Bit 7-6] Spare
[Bit 5] Restart after cycle stop(0: prohibited 1: permitted)
[Bit 4] Block at restart (0: Operate the same block 1: Go to the next block)
―
Lower digit [Bit3-0]: Adjustment mode speed
The XYZ axes operate at the specified speed x 10%. (1 runs at 10% speed)
It operates at 30% when 0, and 100% when A to F (10 or more).
[10%]
※When changing the IF parameter, turn off the power once and then operate it.
86
7-17 (Fn.07)ID connection setting Number Matter
No._0 ID controller output content setting
No._1 ID controller output content setting
No._2 ID controller output content setting
No._3 M-Net start address setting " set at the 1-7 "
Please refer to the following about the details of the above-mentioned Fn.7.
No. Digit Setting
Value Matter
No._00
1st digit
0 Data transmission at block judgement output
1 Data transmission at start of next block and input of judgement
reset input
2 Data transmission from command from the upper device
Min.3 Not used
2nd digit 0~7 This sets the engine number transmission digit number.
0: None , 1 to 7: Number digit transmission
3rd digit 0 / 1 Transmission setting of screw number
0: Do not send 1: Send
4th digit 0 / 1 Transmission setting of each axis judgment
0: Do not send 1: Send
No._01
1st digit
(Note 1)
This sets the digit no. of transmission with torque.
2nd digit This sets the digit no. of transmission with time.
3rd digit This sets the digit no. of transmission with angle.
4th digit This sets the digit no. of transmission with slope(snag torque).
No._02
1st digit 0 ~ 4
I / F unit ID controller / printer function selection
0: Printer connection (ID controller not connected)
1: Standard specification ID controller connection
2: Toyota specification ID controller
(torque and judgment output)
3: Toyota specification ID controller (judgment output)
4: Jatco specification ID controller connection
5: Free (not used)
6: A specification ID controller connection
When using JTECT's display, please set it
to any ID controller connection.
2nd digit 0 / 1 This sets Yes or No with transmission of date and time
0: not to be transmitted 1: to be transmitted
3rd digit 0 / 1 This sets Yes or No with transmission of program no.
0: not to be transmitted 1: to be transmitted
4th digit 0 ~7
Unit number other transmission setting
Bit 0: Unit number sent / not sent 0: None 1: Present
Bit 1: Selection of slope / SNAG 0: Slope: 1SNAG
Bit 2: Selection of torque value
0: Torque according to priority 1: SNAG torque fixed
No._03 ― 1~7
M-NET station address setting
This sets the station address of unit 1.
The address after unit 2 is the serial number from the setting
value +1. Set the final station to 7 or less.
Example: When the set value is 6, unit 1: station 6,
unit 2: station 7.
(In this example, units 3 and 4 can not correspond)
87
(Note 1) Transmission digit setting list
Setting
value Torque, Angle, Slope Time Remarks
0 Not send
2 *.* *.* 2 digits with decimal point
3 **.* *.** 3 digits with decimal point
4 ***.* *.*** 4 digits with decimal point
5 ****.* **.*** 5 digits with decimal point
6 *****.* ***.*** 6 digits with decimal point
A ** ** 2 digits without decimal point
B *** *** 3 digits without decimal point
C **** **** 4 digits without decimal point
D ***** ***** 5 digits without decimal point
E ****** ****** 6 digits without decimal point
If the setting value is not specified above, it will be the same operation as 0.
88
7-18 About Z axis setting 7-18-1 Coordinate setting of Z axis The coordinates of the Z axis are set in setting No. 160 to 239 (XY point No. 161 to 240) of point setting.
Therefore, the points when using the Z axis are only point numbers 1 to 160 and four original positions.
The value set here indicates the descent amount in units of 0.1 mm when the "Cylinder operation" command is executed.
No.
(yyy) Contents Setting range Unit
No.160
~
No.239
7SEG display = Px (unit number). Yyy (setting number)
. Z (axis type 0: X coordinate, 1: Y coordinate).
If this is easy to see, it will be the following.
Z coordinate of point No. 1 at Px.160.0.
Z coordinate of point No. 2 at Px.160.1.
Z coordinate of point No. 3 at Px.161.0
Z coordinate of point No. 4 at Px.161.1
・
・
・
Z coordinate of point No. 159 at Px.239.0
Z coordinate of point No. 160 at Px.239.1
It sets the point coordinates of the Z axis in the above manner.
0000-9999 0.1mm
89
7-18-2 Z axis rate setting When using a Z axis motor, the setting No. 240 to 250 of the point setting is the setting area of the Z axis rating.
Unlike X-axis and Y-axis ratings, Z-axis ratings are fixed for each unit.
It is not possible to change the rating number during automatic operation.
No. Item Explanation Unit
Maximum
value yyy z
240
0 Acceleration
rating Z axis acceleration 10rpm/sec 32767
1 Deceleration
rating Z axis deceleration 10rpm/sec 32767
241
0 Travel distance
per motor Length traveled by one motor revolution 0.1mm/rev 32.767
1 Source rotation
direction
Motor rotation direction when moving
in + direction
※ 0 origin on the motor side is CCW
0:CW
1:CCW
242
0 Moving Speed Travel distance per second 1mm/sec
1
Return amount
(relative
distance)
Movement amount when moving up
with "Cylinder relative return" command 0.1mm
243
0 Return position
(Rising limit)
Position when raising the Z-axis
by return operation
and "Cylinder return" command
0.1mm
1 Lower limit
Abnormality judgment value
at Z axis movement
Alarm is generated when moving
above specified value
0.1mm
244 0
Point detection
coordinates
Check range of whether the Z axis is
within the target range 1mm 100
1 Unused Reserve ―
245
0 JOG Speed JOG operation speed 1mm/sec
1 Home return
operation speed Home return operation speed 1mm/sec
246
0 Driver type Type of driver to connect 0:GSK driver amplifier
1 Motor type Specify motor type X axis rating table
Refer motor type
247
0 Z_UP 1
coordinate
Coordinates ascended
by Z_UP 1 command 0.1mm
1 Z_UP 2
coordinate
Coordinates ascended
by Z_UP 2 command 0.1mm
248
0 Z axis overlap
distance
Upper byte:
Lowering completion overlap distance
Lower byte:
Rise completion overlap distance
1mm
1 XY axis overlap
distance
Upper byte: spare
Lower byte:
XY movement completion overlap distance
1mm
249
0 Z range upper
limit position
Upper limit coordinate (minimum value)
of Z range output signal 0.1mm
1 Z range lower
limit position
Lower limit coordinate
of Z range output signal (maximum value) 0.1mm
250 ― Unused Reserve ―
90
8. Supplementary explanation 8-1 Motion assist function ①Zero-magnification check function
If the check box in the program setting is checked, zero magnification check will be performed.
If it is not present, this check will not be performed.
This check is always performed in multi-axis mode.
In positioning mode, it is executed only at the first tightening block.
②History data storage function
After tightening comprehensive judgment outputs, it makes the history data stored in each driver
at the reset input as a trigger.
When the data is confirmed the data was read from the setting software-automatic measurement screen. -
(The history data is read to PC by the all or Specified axis when the read switch on setting software.
There is the cancel SW.)
③Waveform sampling function
It can save 2048 the 2 kinds of waveform data in the each driver.
2 kinds of waveform data are called waveform data 1 and waveform data 2.
When the number of data is over 2048, next tightening data will be overwritten.
Waveform data1: save in 10msec Interval from the block start to block end.
Waveform data2: save in 0.5degree Interval from the real tightening snag torque to real tightening finished
It is possible at the setting software that it saves the waveform data 1 after tightening
and it can get waveform data 2 by the always-on connection (online).
8-2 Driver function Regeneration capability: If the drive voltage exceeds a certain value, it has a built-in regenerative circuit
to be consumed by the internal resistance. (Regenerative resistor is external.)
Discharge function: The driver spontaneously discharges by the LED.
Analog monitor: Monitor signal output from the panel surface check pin (can be selected by parameter)
Standard load inertia : JL(Standard load inertia) ≦ 30JM(30 times of the moter inertia)
Tightening history storage: GSK saves approximately 5000 tightening data in the E2PROM of each driver amplifier.
Setting software is used to read the history.
Alarm history function:GSK stores 16 alarms for each driver amplifier.
Setting software is required to read alarm history.
91
9. Monitor output Any internal signal of this driver is converted into an analog signal of -8V ~ + 8V, it can be monitored.
The output voltage is scaled so that the setting value of the monitor output scale become 8V.
The analog monitor signal is output to M1.M2 pin on the panel surface of the driver.
The setting about an analog monitor is indicated below.
Please input the address in d_00XXX.
There are the pins of M1, M2 only on CH1 side in case of GSKW.
When seeing CH2 side, please change the input ID.
address Item name Matter
084 Output-ID of the
Monitor 1
It sets the ID of the data which is output to the analog monitor 1.
Initial value:45(The ID of the input value from the torque sensor)
085 Output-scale of the
Monitor 1
The analog monitor 1 is scaled so that the set value
of this parameter becomes 8V output.
initial value:2048
086 Output-ID of the
Monitor 2
It sets the ID of the data which is output to the analog monitor 2.
Initial value:41(Current speed ID)
087 Output-scale of the
Monitor 2
The analog monitor 1 is scaled so that the set value of this parameter
becomes 8V output.
initial value:1500
The output ID set above and its contents are shown below.
ID-Number Display contents
41
※(10041)
It represents the current speed [rpm].
It is initialized to analog monitor 2.
The initial scale is 1500 [rpm / 8 V].
42
※(10042)
It represents the motor current value for monitoring [0.01 Arms].
Please set it in torque sensor unused mode.
45
※(10045)
It represents the output current value of the torque sensor.
It is initialized to analog monitor 1.
The initial scale is 2048 [Arms / 8 V].
※When using the W type controller and checking CH 2,
please set the value which added 10000 to the number of CH 1.
※ For GSK-T4-E-N2 and GSKW-T4-E-N2 there is
no analog monitor pin notation.
Pins for analog monitor in these controller types are
within the red frame in the left figure.
These show the following from the top of the figure.
TP6: M1 pin
TP7: M2 pin
TP 8: GND
When connecting, please connect to pin and GND respectively.
92
10. Code Table 10-1 NG code list
Operation Code
display Matter
Basic NG FFFF
FF00
Emergency stop
Preparation for operation off during operation or START OFF in the running program.
Before starting
check,
etc.
0001 Zero offset error
During the zero / magnification check, zero point output exceedes the set over range.
0002
Magnification error
During the zero / magnification check, magnification output exceeds the set
over the range.
0003 Zero offset fluctuation error
Difference in the previous and current output value exceeds the limit over.
0004 Magnification fluctuation error
Difference in the previous and current output value exceeds the limit over.
0033
1.On Nut runner
Tightening sampling error
2.On Positioning mode
Return to origin point over time error
0034
Home to return operation at the time of incomplete.
Positioning movement command of the X/Y-axis has been issued in the state of
that origin return is not yet completed.
SOC.T
0106 Gear checkNG1
In the torque-free monitoring time, angle tightening has reached the cut angle.
0107
Gear checkNG2
Motor current during rotation exceeds the torque upper limit equivalent.
※The torque limit is a current value.
0108 Fitting angle over
It does not reach the fitting torque when it exceeds the cut angle.
0133 SOC.T over time
The time of this operation has exceeded the set value.
PRE.T
0207
Pre tightening early tightening NG
It reaches the second speed switching torque between the closed fast decision angle
from the start.
0211 Pre tightening torque over
The torque value at the time of the end has exceeded the upper limit.
0212 Pre tightening torque under
The torque value at the time of stopping does not reach the lower limit.
0221 Pre tightening time over
The time exceeds the upper limit when this operation is completed.
0222 Pre tightening time under
It does not reach the lower limit when this operation is completed.
0231 Pre tightening angle over
The angle exceeds the upper limit when this operation is completed.
0232 Pre tightening angle under
It does not reach the lower limit when this operation is completed.
0233 Pre tightening over time
The time of this operation has exceeded the set value.
0240 Pre tightening area over
The size of the judgment area exceeds the set value.
REV.T
0306 Reverse tightening pass torque NG
During operation, the torque did not reach the set value.
0307 Reverse tightening sticking judgment NG
During operation, the torque exceeds the set value.
0311 Reverse tightening torque over
The torque at the measurement angle exceeded the judgment torque.
0333 Reverse tightening over time
The time of this operation has exceeded the set value.
REA.T 0403 Real tightening zone NG
Out of the zone determination range at torque method.
93
Operation Code
display Matter
0404
Real tightening gradient NG
Gradient at an angle method exceeds the set value.
It has ended operation before the acquisition of basic gradient.
0407
Real tightening early tightening NG
The tightening torque reached the cut torque between the start
and the early tightening judgment angle.
0411 Real tightening torque over
The torque value at stop has exceeded the upper limit.
0412 Real tightening torque under
The torque value at stop does not reach the lower limit.
0421 Real tightening time over
The time exceeds the upper limit when this operation is completed.
0422 Real tightening time under
It does not reach the lower limit when this operation is completed.
0431 Real tightening angle over
The angle exceeds the upper limit when this operation is completed.
0432 Real tightening angle under
It does not reach the lower limit when this operation is completed.
0433 Real tightening over time
The time of this operation has exceeded the set value.
0434 Real tightening over cut angle
Angle from the start was over. (No torque sensor only)
0440 Real tightening area over
The size of the judgment area exceeds the set value.
0441 Real tightening snag torque over
The snug torque exceeded the upper limit by the angle method.
0442 Real tightening snag torque under
The snug torque does not reach the lower limit by the angle method.
0451
Real tightening torque decrease NG
The tightening torque becomes lower than the setting value of the real tightening
passing torque after passing the snug torque.
94
10-2 Alarm Code List 10-2-1 Interface alarm The table below shows the list of alarms (EC *) that occurred in GSK-IF.
Code display
contents Detection factor Cause Measures
EC0
Program No.
Error
rogram selection error
/
Content error
Specified program No. out of range Confirm program selection
signal
The program data stored by GSK-IF is
incorrect (check SUM) Program reset
There is no NR axis in multi-axis mode Confirm unit setting
EC1
Operation
content error
Indecipherable operation
is set
Program data stored in GSK-IF is
incorrect
(I found an unknown command)
Program reset
EC2
Motion axis no
abnormality
※Reset
impossible
Specified axis is not
implemented
/
Axis number is doubled
Unit setting error Confirm unit setting
ARCNET communication fails
Connection check between
GSK-IF and GSK controller
Connection check between
GSK controllers
Check if the axis number of
unit setting and the axis
number of GSK controller
matching
EC3
FRAM error
※Reset
impossible
Error detection by self-
check of GSK-IF
firmware
Insufficient backup area, etc. Program reset
EC4
External
communication
error
※Reset
impossible
Communication with the
outside (mainly PLC)
stopped
M-NET connection miswiring Wiring check
Station address on the sequencer side,
Transmitted / received byte count error
Sequencer setting
confirmation
M-NET station address setting error M-NET station address
confirmation
Shield processing failure of M-NET
connection line Wiring check
EC5
Rated number
setting error
NR axis, X axis, Y axis
Rated number error
NR axis, X axis, Y axis rated
designation other than 1 to 30
Program setting
confirmation
EC6
Position select
error
Position selection error
during JOG operation
Position specification for JOG operation
is other than 1 to 255 I / O signal confirmation
EC7
CAN
communication
error
Communication error
with Z axis controller
(GSK-R3-N1)
CAN cable connection failure Cable change
MAC ID of Z-axis controller doubles or
disagrees Review controller settings
Power off of Z-axis controller Re-supply operation
preparation
EC8
Parameter
setting error
Parameters such as unit
settings do not conform
to setting rules
Unit setting number exceeded
(To position unit of maximum unit 4
Against 5 to 7 units)
Unit numbers do not match the order of
axis numbers
Reset unit settings
EC9
ARCNET
communication
error
at power on
Occurs at power on
ARCNET communication failure Same as EC2 ARCNET
communication error
No response from controller
Check if the axis number of
unit setting and the axis
number on GSK controller
matching.
95
10-2-2 Interface alarm details Interface alarms have multiple causes for each alarm.
The detail code can be found in the configuration software or on the display.
EC0 Selected program error 【Detection content】 Program choice and content issues
【Cause and measures】
Detail code
(***1) Cause Measures
0101 The selected program number is out of range
(0 or exceeded the maximum program number) Confirm program number of input signal
0201 Some NR axis was moving at program start Wait for the nutrunner operation to stop
before starting
0301 NR axis was moving at block start Wait for the nutrunner operation to stop
before starting
0401 Did not decide which block to execute at the start Block was not decided at the start
0501 Block to execute was all axes empty Check the program contents of the number to be
executed
0601
The block number you tried to start was
over the maximum
(IF firmware self-diagnosis error)
Check the version of IF firmware
0701 Zero magnification check turned
on in a block where no command exists Confirm the contents of the program
0801 Use duplicate MARK command
of the same number Confirm MARK command number in program
0901 Retightening start timing is too early Open about 300ms between retightening signal
ON and start signal ON
0A01 Retightening can not start because the number
of blocks in each unit does not match
Insert a dummy block and adjust the number
of blocks. Or change the mode of retightening
0B01
XY block detected in multiple-axis mode
(The unit settings may have been changed
but the program has not been overwritten.)
Confirm the contents of the program
Write the correct program
0C01 NR block detected in unit in positioning mode
and without NR axis
Confirm the contents of the program
Write the correct program
0D01
Detecting MOVEXY commands
that can not be executed
(Ex: Detecting MOVEX command
in a unit without X axis)
Confirming the MOVEX, MOVEY, MOVEXY
commands
Write the correct program
0E01
Detection of non-executable Z-axis commands
(Ex: A unit with no Z axis detects
a pressing down command)
Confirm Z axis related commands
0F01 Detection of "end synchronization" ON
in positioning mode Program not to use "end synchronization "
96
EC1 Program step error 【Detection content】 Unreadable operation step in setup program or read error of program step
【Cause and measures】
Detail code
(***2) Cause Measures
0102
Program backup error (Life of FRAM etc.)
(Also occurs when the program is not written
once after changing the program Max value
setting)
Program rewrite
Change IF if it occurs frequently
0202 Detect unreadable step command Program rewrite ※
0302 Detected SPW command Program rewrite ※
0402 Program STEP exceeded Program rewrite ※
0502 Rated number out of range Program rewrite ※
0602
Insufficient internal memory for program cache
(There are valid axis numbers more than the
number of axes in program Max value setting)
Confirm unit setting and program Max value
setting
Program rewrite ※
0702 The program's END command can not be detected Program rewrite ※
※※If it still occurs, the version of IF may be old. Please check if the IF version is the latest.
EC2 Controller connection error 【Detection content】Communication error with controller (mainly ARC-NET communication)
【Cause and measures】
Detail code
(***3) Cause Measures
0103 At startup: Controller version is old Upgraded controller firmware
Change controller
0203 At startup: Controller system number error
(Not a GSK controller) Change controller
0303 At startup: Controller axis not found
(No controller response) Check controller axis number
Connection check of GSKIF and controller
・Is the termination resistance attached
・noise
・Poor cable contact
0403 At startup: There is an axis with no control
response
1003
ARCNET communication cut off
(Communication was successful at startup, but
then failed)
EC3 Interface unit error 【Detection content】 FRAM (firmware * writing area) abnormality, some abnormality in the Interface unit
【Cause and measures】
Detail code
(***4) Cause Measures
0104 Parameter backup error (FRAM life etc.)
(Possibility that various setting values are broken)
Rewrite GSK configuration parameters
Change IF if it occurs frequently
0204 I /O signal definition error
(IF firmware self-diagnosis error) Upgrade of IF firmware version
0304
Insufficient size of program area
(IF firmware * problem, insufficient
backup area)
Upgrade of IF firmware version
※Here is the operation program of the interface itself
97
EC4 External communication error (sequencer connection error) 【Detection content】 Communication error with external control equipment (sequencer etc.)
【Cause and measures】
Detail code
(***5) Cause Measures
0105 Communication failure (at startup) It depends on the connected device
Supplementary materials
0205 M-NET: Receive size specification
from the parent station is too small IO size check on MNET sequencer side
0305 M-NET: Receive size specification
from the parent station is too big IO size check on MNET sequencer side
0405 M-NET: Transmission size specification
from the parent station is too small IO size check on MNET sequencer side
0505 M-NET: Transmission size specification
from the parent station is too big IO size check on MNET sequencer side
1005 Communication failure
(successful at startup but later failure) Supplementary materials
【Supplement】M-NET
Status Cause Measures
Occurs
after power on※1
Connection miswiring Wiring check
Station address setting error Check if station address setting
matches PLC setting
Poor shielding of connection
lines Wiring check
※1
In the case of M-NET, EC4 does not occur even if M-NET connection can not be made
immediately after GSKIF power is turned on.
Occurs when the M-NET connection is made once at power on and then disconnected.
If GSIF does not respond to the signal from PLC even though EC4 is not generated,
check the above cause / measure.
Other
M-NET indicates the number of transmit and receive bytes from PLC
But, it does not check whether this size matches the input / output signal size of GSKIF.
Please check the signal size for each PLC station if you can only exchange part of the input /
output signals by looking at the IO monitor etc.
[Related main parameters] M-NET station address setting: Fn7-No. 03
【Supplement】Other than M-NET
Status Cause Measures
Occurs after power
on※1
PLC connection incorrect wiring Wiring check
Mismatch of PLC station address,
communication speed, etc. ※ 2
Check if PLC settings and Anybus
board settings match
I / O signal size mismatch Confirm PLC setting (Fn6-12)
Confirm PLC setting 2(Fn6-15)
Poor shielding of PLC connection
wire Wiring check
Occurs after power
on
Poor shielding of PLC connection
wire Wiring check
How to use the Anybus board depends on the PLC type Devicenet / CCLINK / Profinet etc.). Refer to the instruction manual for each communication standard for details.
※1.The connection sequence with the PLC may take some time to complete, so it may wait up
to several tens of seconds for an alarm to be generated.
※2.The setting method differs depending on the PLC.
【Related key parameters】 PLC setting: Fn6-No. 12
98
EC5 Position move failure 【Detection content】 Abnormality regarding positioning operation of XYZ
【Cause and measures】
Detail code
(***6) Cause Measures
0106 Return: There is an axis that has not been home-
returned and can not operate Home position return
0206
There is an axis for which return-to-origin is not
completed, and the program operation can not
start
Home position return
0306 Range error of POS number specified
in program operation
Confirmation of position number specified
by input signal
(If there is a Z axis, you can specify up to 160)
0406 There is a problem with the X rating
(speed 0, etc.) Check X rating
0506 There is a problem with the Y rating
(speed 0, etc.) Check Y rating
0606 There is a problem with the Z rating
(speed 0, etc.) Check Z rating
1006 Z axis: Home position return parameter error Check Z rating
1106 Z axis: JOG parameter error Check Z rating
1206 Z axis: teaching parameter error Check Z rating
1306 Z axis descent failed. It tried to descend
during Z axis operation
IF firmware rewrite
Review the overlap distance
of Z-axis rating setting. Insertion of waiting by DELAY command
2206 POS number error on move destination
by JOG signal
Check the range of position numbers specified
by the input signal
2306 XY movement by JOG signal can not operate Home position return
EC6 Out of target position range 【Detection content】 Anomaly about move destination of XYZ movement
【Cause and measures】
Detail code
(***7) Cause Measures
0107
Z axis: Move destination coordinate error,
limit over
(It tried to move out of the range of rising limit
and falling limit)
Confirm Z axis coordinate of specified position
0207
Z axis: Z axis coordinate unknown
by cylinder lowering command
・ The coordinate value of Z axis was 0 mm
・ Return number 255, etc. Point number without
Z axis coordinates
Check if specified point number is within range
Check if Z-axis coordinate value
of specified point is greater than rising limit
0307 Return destination X coordinate is out
of soft limit range
Confirm that the destination XY coordinates are
within the soft limit
Expand the soft limit range as needed
0407 Return destination Y coordinate is out
of soft limit range
1007 X coordinate of program destination is out
of soft limit range
1107 Y coordinate of program destination is out
of soft limit range
2007 X coordinate of JOG signal destination is out
of soft limit range
2107 Y coordinate of JOG signal destination is out
of soft limit range
99
EC7 CAN communication error 【Detection content】 CAN communication error
【Cause and measures】
Detail code
(***8) Cause Measures
0108 CAN open failure
(insufficient resources such as RAM) Upgrade of IF firmware version
0208
CAN communication failure at startup
・ Connection failure of CAN cable
・ Z-axis axis number doubles, disagreement
・ Power off of Z axis driver etc
Wiring confirmation (termination resistance etc.)
energization check
Axis number (MAC-ID) confirmation
0308
CAN communication failure after startup
(Communication has been broken since
connecting once)
Wiring check
EC8 Parameter setting error 【Detection content】 The content of the parameter set in the interface does not conform to the setting rule 【Cause and measures】
Detail code
(***9) Cause Measures
0109 UNIT setting: There is no valid axis Unit setting check
0209 UNIT setting: UNIT number per axis is not in
ascending order
Unit setting confirmation Unit number in
ascending order
Determine the axis number
0309 UNIT setting: Axis number is not in the order of
NR / X / Y / Z
Unit setting check. Assign the nut runner axis,
X axis, Y axis, Z axis in ascending order
of axis number for the axis of the same unit
0609 UNIT setting: UNIT number over
(The upper limit of positioning is 4 units) Fit within 4 units
EC9 Tightening operation abnormality 【Detection content】 Abnormality in operation of nutrunner
【Cause and measures】
Detail code
(***A) Cause Measures
010A Axes other than NR axis are off (setting software) Check the contents of the off axis setting
020A Axes other than NR axis are off (input signal) Check input signal for axis turning
200A
NR axis movement: Start failure
(The selected program number
or program content is broken)
Confirm selected program number
Check the contents of the inching program
In some cases, rewriting is necessary
210A
NR axis movement: Start failure
(There was no program that was valid for one axis
in the selected program)
Check the contents of the inching program
(At least one axis must have a tightening block)
100
10-2-3 Alarm generated in the GSK driver (E**)
Code Alerm names and detection contents / Cause of generation and treatment
E11
[IPM error] Power drive signal error (overcurrent / overheat / power supply error)
1. Short circuit between motor windings : Replace motor
2. Short circuit of motor connection cable : Replace cable
3. Controller drive circuit failure : Replace controller
4. Overheating due to overload
5. The ambient temperature of the controller is abnormally high
: Review the installation environment
6. Fan does not work : Replace controller
E21
[Overload] The motor average current exceeded the “overload alarm detection value” (see * 6-1)
1. Excessive load torque : Reduced load
2. Acceleration / deceleration frequency of operation is too high : Change of operation pattern
3. Overload alarm set value is too small : “d00104” parameter change
4. Sensor setting error : Review parameters of “d00141”
E22
[Current control error] The average deviation of the current control loop exceeded the "current control
error value"
1. Motor disconnection : Replace motor
2. Broken motor connection cable : Replace cable
3. Occurrence of abnormal vibration : Readjustment of servo gain
4. Resolver NR is used : “d00114” parameter review
E31
[Overspeed] The motor speed exceeded the “overspeed alarm detection value”.
1. Excessive command speed : Review of command speed
2. Overspeed detection set value is too small : “d00105” parameter change *
* There is a difference in initial value between NR and positioning.
Representative value NR : 15000 Positioning : 7500
Since the value varies depending on the model, please contact the manufacturer for details.
3. Overshoot during control : Servo gain readjustment
4. After resetting the absolute position detection senso r: Reset the alarm again.
E41
[Position control counter overflow] Position data exceeds ± 68000000h
1. Rotated in a certain direction for a long time: Review of operation pattern
2. Does not move due to cable disconnection or wiring mistake: Cable replacement
E42
[Excessive deviation] Position deviation exceeded "deviation error detection value"
1. A large position command has been added in steps: Review of the position command
2. Motor disconnection: Motor replacement
3. Disconnection of motor connection cable: Encoder / resolver cable replacement
4. Abnormal vibration occurs: Servo gain readjustment
5. Setting error of angle sensor resolution: “d00141” parameter review
E61
[Sensor error] Encoder signal cannot be detected (disconnected)
1. Broken motor angle sensor connection cable : Replace the cable
2. Sensor setting error : Review parameters of “d00140”
3. Abnormal sensor attached to motor : Replace motor
E62
[Sensor abnormality] Abnormal sensor signal from resolver backup unit
1. After an error occurred, the power was turned off without resetting : Reset the R / D_board.
2. Resolver backup unit error : R / D_board replacement
3. Motor sensor magnetic pole signal error : Replace motor
E63
[Sensor error] Communication error with SmartInc or SmartABS encoder / resolver
1. Connection cable error: Replace cable
2. Resolver backup unit error: R / D_board replacement
3. Abnormal motor angle sensor: Replace motor
E64
[Sensor error] SmartInc or SmartABS encoder detected an error
1. Overflow count value overflow : Reset of multi-turn position data by alarm reset
2. Battery voltage drop : Replace battery after error reset 3. Cable breakage between resolver backup unit and resolver : cable replacement
4 Abnormal motor angle sensor : Replace motor
5. Malfunction of backup unit due to noise
: Review cable connection and ground connection, and install ferrite core on motor connection line
6. Uncertain origin : Return to origin
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E65
[Sensor abnormality] There is no HZ state when the power saving encoder power is ON
1. Sensor setting error : Review parameters of “d00140”
2. Abnormal motor angle senso r: Replace motor
E66
[Abnormal sensor] Excessive amplitude of resolver signal
1. Unresolvable resolver : Please contact us
2. Sensor setting error : Review parameters of “d00114” and “d00142”
3. Resolver reception circuit error : Replace controller
4. A value exceeding the motor speed upper limit was set : Review of settings
5. Disconnection between resolver backup unit and resolver : cable replacement
E67 [Sensor abnormality] Sensor signal abnormality
Multi-turn overflow of resolver backup unit
E69 [Sensor abnormality] Sensor signal abnormality
1.Resolver backup unit error
E71
[Overvoltage] Excessive drive power supply voltage
1. Drive power supply voltage exceeded 800V: Review of drive power supply
2. Drive voltage detection circuit malfunction: Controller replacement
E72 [Voltage drop] Drive power supply voltage drop
1. The drive power was turned off while the servo was on: Controller replacement
E73
[Regeneration abnormality] Voltage does not decrease due to regeneration
1. Regenerative resistance is too large : Replace the controller because the regenerative resistance
cannot be replaced.
E74
[Regenerative abnormality] Regenerative resistance overload
1. Insufficient capacity of regenerative resistor : Since the regenerative resistor cannot be replaced,
replace the controller.
E81
[Abnormal control power] Decrease of control 24V voltage
1. Control 24V voltage dropped : Review of external power supply unit
2. Abnormal voltage detection circuit : Replace controller
E82 [Bus failure] Cannot read / write data between CPU and peripheral device normally
1. CPU peripheral circuit error : Controller replacement
E83
[Current offset error] The offset value of the current sensing circuit is abnormally large
1. Abnormal current detection circuit
: If the alarm cannot be reset after turning the drive power off, replace the controller.
E91
[Non-volatile memory error] Data cannot be read normally
1. Non-volatile memory malfunction or memory data destroyed
: Parameter initialization and resetting or controller replacement
E92
[Non-volatile memory error]
Data cannot be written normally (E92)
Data cannot be erased normally (E93)
Write check failure (E94)
1. Malfunction of nonvolatile memory
: If the parameter is saved again and the alarm cannot be reset, replace the controller.
E95
[Non-volatile memory error] Abnormality of the data to be written
1. There is a parameter setting value exceeds the allowable range
: Review of the parameters
EA0 [Nutrunner operation parameter error]
1. Abnormal parameter sent from IF to controller : Review of setting values
EA1
EA2
EA3
[ARC-Net initialization failure]
1. ARC-Net IC error : Controller replacement
EA4
EA5
[ARC-Net communication error]
1. Communication is not possible due to noise, etc. : Cable inspection, terminal processing inspection, shield processing inspection
Eb1 [Home postion return error]
Can not detect home sensor
102
Ed0 [Z-axis pressing error]
CH2 side is not Z axis
Ed1 [Z-axis pressing error]
CH1 side is not nutrunner axis
Ed2 [Z-axis pressing error]
CH1 and CH2 are not the same unit number
103
11. Indication of display
【Axis array】
This screen shows the alignment of the axes.
Each screw is displayed in white before tightening,
in green when tightening is OK, and in red
when tightening is not performed.
If the screw display number is set to a value over 60,
the axis number is not displayed.
【Tightening data】
This screen displays the tightening result data.
A message of NG code or alarm result is displayed
in the judgment column.
104
【Tightening wave】
There are the following types of tightening waveforms that can be viewed on this screen.
・"Horizontal axis: time-vertical axis: torque"
・"Horizontal axis: time-vertical axis: speed"
・"Horizontal axis: angle-vertical axis: torque"
・"Horizontal axis: angle-vertical axis: speed"
【Setting Menu】
【Display language】
l
You can check various setting parameters in the items
on this screen.
In the nutrunner setting, you can change the setting
by entering a password.
It's possible to change the language shown to a display.
The language which can be indicated is two, Japanese
and English.
105
【Common settings】 【Unit setting】
【ID-Controller settings】 【Option settings】
There are [Unit setting] [tightening data output] [option
setting] in the common setting menu.
This screen displays the motor type of each axis
and the unit number to which it belongs.
In this screen it sets the tightening data output
from the controller.
This screen displays the settings in the option items.
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【Positioning settings】 【X axis rate settings】
【XY point】 【Interference region settings】
【Supervisory】
This item sets the ratings and coordinates required
when using positioning control with the X-axis and Y-axis.
This screen sets each parameter details
of X axis motor rated value setting.
There is a screen to set the rated value of Y-axis motor
with the same setting contents.
This screen displays the details of each parameter
of coordinate position.
This screen displays parameters related
to the movement range of the XY axis.
This screen shows the details of each time limit.
107
【Nut runner setting】 【Rate setting】
【SOC.T】
【PRE.T】
The parameter of PRE.T set value is displayed.
Finer control and judgment can be performed with the setting items of the option.
There are [Rate setting] [SOC.T] [REV.T]
[PRE.T] [REA.T] [Data collection]
as nut runner setting.
This screen displays each parameter of the nutrunner used
on the rated setting.
The parameter of SOC.T set value is displayed.
Finer control and judgment can be performed
with the setting items of the option.
108
【REV.T】
【REA.T-torque method】
【REA.T-Angle method】
This screen displays the set value parameters
in reverse operation.
The parameter of REA.T set value in torque method control is displayed.
Finer control and judgment can be performed with the setting items of the option.
The parameter of REA.T set value in angle method control is displayed.
Finer control and judgment can be performed with the setting items of the option.
109
【Password input】
【Data collection】
【Program setting】
The password entry screen shown on the left will be displayed
by pressing the “[Write settings]” button
on each setting screen.
Each parameter in the nut runner setting can be changed by
entering the password and the ENT key.
When USB is inserted in a display when "use" is chosen
from a data collection setting, a tightening result is
preserved by a USB memory by a CSV format.
The program setting can be confirmed.
110
【I/O monitor input】
【I/O monitor output】
It's possible to do input confirmation of I/O monitor.
A screen is changed by an arrow button.
It's possible to do output confirmation of I/O monitor.
A screen is changed by an arrow button.
111
12. Maintenance and inspection 12-1 Notes 12-1-1 Maintenance and Inspection Precautions ・After powering off and power detection, you should remove the unit.
・Do not work with wet hands. It may cause an electric shock.
・Do not measure the insulation resistance of the controller. It may cause damage to the controller.
・Do not disassemble or repair by yourself.
General usage
Operation at an average of 20 hours or less at an ambient temperature, an average of 30 ° C per year,
and a load factor of 80% or less.
12-1-2 Inspection items Daily check
・Check for unusual vibration or sound.
・Check for abnormal odor.
・Check the wire for flaw and cracks. Special care should be taken to inspect the movable cables.
・Check the driver ventiration hole for foreign matters attached.
Regular inspection (1 year)
・Check the screws at tightening point for loosened condition.
・Check the tightening section for alignment failure.
・Check the cooling fan for any damage.
12-1-3 lifespan The service life of each part varies depending on the environmental conditions and usage.
You need to replace it after confirming the abnormality.
Product Parts Standard replacement interval Remarks
Controller
Capacitor About 5 years
Standard exchange time is
reference time.
Even if the standard replacement time
is not reached, it should be replaced
when an abnormality is found.
Relay about 100,000 operations
Cooling fan 10,000 to 30,000 hours
Battery About 2 years
E2PROM 10,000 times of overwriting operation
12-1-4 Capacitor The characteristics of the smoothing capacitor etc. deteriorate due to the ripple current.
The life of the capacitor depends on the ambient temperature and operating conditions.
In a typical use situation, it will be about 5 years in life.
12-1-5 Relay This part causes contact wear due to the switching current.
The life of this part is about 100,000 operations.
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12-1-6 Cooling fan Depending on the bearing life of the cooling fan, it will be the life in continuous 10,000 to 30,000 hours.
12-1-7 Battery Battry life is basically about 2 years. But it varies depending on the application to use.
12-1-8 E2PROM E2PROM for parameters storing has the limit of overwriting frequency.
Data holding time is about 10 years.
12-2 Warranty The overwriting frequency under the guaranteed condition is as follows as an outline.
It is restricted by the shortest condition in the following terms.
Parameter overwrite(Fn01 to Fn12) Each 10,000 times/total
Program overwrite 10,000 times/each axis
Tightening history data Tightening of about 10,000,000 times/axis
Engine number data About 59,520,000 units
Alarm history Alarm 10,000 vtimes occurrence/each axis
12-3 Tightening operation glossary UNIT:
Multiple axes control up to 30 axes can be treated as each axis to independently operate or as a group
of several axes (a unit) to operate together. One interface unit can control the maximum 7 units.
At least one controller belongs to one unit (maximum 30 axes control to one unit), and one input command is assigned
to one unit and then all belonging axes start operation simultaneously.
In SIO, different station numbers assigned to each unit.
PROGRAM:
The screw tightening program can save up to 50 programs.
One program can set up to 220 steps of operation starting from control flag (with or without zero check etc.)
and rated setting.
However, the rating, screw number and end are also treated as one step.
The program must have at least one block set.
BLOCK:
A block is a group of operation commands in a screw tightening program.
The block shows the grouping of steps starting from the start declaration to the end declaration.
In automatic operation, one block is executed with one start signal input.
At the block end declaration step, GSK outputs the judgment (block OK / NG) on the operated block.
If it becomes "NG" at any step in the block, it will be judged as "block NG" (except when there is a retry)
and the next step will not be executed.
After judgment output, the program start starts from the next block.
STEP:
Each operation (Rotation, pretightening, reverse rotation and final tightening), block start declaration, screw number,
block end declaration, and retry are called steps respectively.
Step 1 will be always the block start declaration and the step 2 will be always the screw number because more than one
program is needed in a program.
Program is executed from the step 1 and finished by the end declaration at the final block.
On the step of the final block end declaration, the total determination (Total OK/NG) is output.
Each axis in the unit operates by step synchronization and the axis in which step has been complete turns OFF the servo
motor and waits for the step completion of other axes.
When steps of all axes are complete, the next step will be operated.
QL PROCEDURE:
If a block with Real tightening operation does not complete screw tightening operation under the specified conditions,
the block will output "NG" judgment.
The operator needs to manually retighten the screws when finding this “NG” judgment.
At this time, you can change the judgment “NG” to “OK” by inputting the tightening output of the manual torque wrench. This input is called a QL procedure.
113
RETRY:
If NG in each operation (SOC.T, PRE.T, REV.T and REA.T) in the block,it is possible to retry the operation.
If NG occurs from the block start declaration to the step before the retry,
the operation from the retry to the end is executed.
If NG did not occure, the operation following the rtry will not be executed.
END SYNCHRONIZATION:
At the end of the PRE.T or REA.T operation step, torque confirmation is performed again for only the OK axis.
In this synchronous operation, torque check is performed at 5 rpm until the cut torque, cut angle or overtime is reached.
This synchronization has no effect if it is set to SOC.T and REV.T.
(If this tightening operation is the angle method, never set this synchronization.)
SOC.T:
Used for screw pick up (a socket picks up a screw head) operation before tightening
or preventive operation against socket-engagement after tightening.
PRE.T:
This is an operation that performs temporary tightening until the screw is seated.
REV.T:
Operation to unfasten the seated screw by several turns in order to transit to REA.T.
(Inspection of screw burn-in caused by temporary tightening)
REA.T:
This action is used for final tightening of the screw.
ZERO MAGNIFICATION CHECK:
This is an operation that automatically checks and adjusts the torque sensor's zero point and magnification
before the tightening block starts.
※If zero times check is set in the program, the torque sensor zero point is automatically set to 0.
However, if it is more than the set-over value of the rated setting, zero times NG will occur.
APPLICABLE TO QC PERSONAL COMPUTER:
Automatic gain of the tightening data and tightening waveform (Simultaneous use with a printer is not possible.)
※Tightening data:”Machine No.”, “Axis No.”, “Screw No.”, “Date”, “Time”, “Program No.”, Pretightning torque,
Pretightening angle, Reverse time, Reverse angle, Final tightening torque, Final tightening time, Final tightening angle,
Final tightening snag torque, Gradient, Rotation torque judgement, Unit No., Engine No.
※Tightening waveform:Waveform from the final tightening snag torque to the finish,
ID CONTROLLER COMPATIBLE:
The interface unit and ID controller can be connected via serial I / O, and engine number, calendar settings,
and result data can be sent.
(This cannot be used simultaneously with the printer.)
APPLICABLE TO PRINTERS:
The angle from the start to the stop is taken into the computer. This is not a programmatic action.
(Executable only from a PC or SIO)
TIGHTENING ANGLE SAMPLING OPERATION:
This is an operation that rotates in the tightening direction at a constant speed to measure the screw length and ends
when it reaches the set torque.
The angle from the start to the stop is taken into the computer. This is not a programmatic action.
(Executable only from a PC or SIO)
END, STOP:
During tightening operation (SOC.T, PRE.T, REV.T and REA.T),
the operation may be finished to stop when the condition is matched.
This point that the condition matches (during the motor running) is defined as “End” and the point
actually the motor stopped is defined as “Stop”. Most NG determination is executed after “Stop” is established.
114
Supplemental explanation
Precautions for wiring the Arc-Net
Please use the following drawing for the Arc-Net wiring.
Please set 110Ω resister to (+)(-) on the arc net connector of the end unit driver .
Notes on using M-net communication
When selecting M-net for communication with PLC, you must set the M-net start address setting "Fn. 7 No. 03"
from the 7SEG panel.
(If PLC SIO address does not match GSK's M-net start address setting, PLC can not communicate with GSK)
The password of GSK setting software
The initial password for writing settings with the configuration software is "2014".
This can be changed in the setting software configuration file.
115
About GSK additional functions
①Area judgment You set the area value to be used for judging screw defects.
Calculation of area value is obtained by integral calculation on torque and angle curve during Pre-tightening cycle.
With the tightening waveform of the automatic measurement item in the setting software, you can check
the waveform used for this calculation.
To see this waveform, you select "Extended waveform".
②Smooth tightening This tightening controls the rotational speed steplessly.
You can set this tightening method by the option of the final tightening cycle.
By setting initial speed and the speed at the cutting torque, the rotation speed changes steplessly according
to the change of torque.
③Function to connect with EtherNet (FTP transfer) This enables EtherNet (LAN) connection by attaching an EthnerNet / IP board to the GS-KIF CN14 connector.
This will enable you to save the tightening results as a file on an FTP server.
※This function can not be used with system GSK. .
④S-shaped control It adjusts the acceleration / deceleration of the motor from the distance to the destination point
when controlling the positioning motor.
And it controls so that the nut runner axis curves smoothly.
⑤Z axis pressing control It is possible to press the screw to be tightened against the seating surface to a set height with a constant force
by using the torque control function of the Z-axis driver with a positioning motor.
In this way, the mechanism of the socket's cushion spring can be substituted by control.
116
⑥SD card In GSK, several functions can be used by inserting the SD card memory into the SD card slot at the top of the I / F.
The available functions are shown below.
(1)Reading, saving and writing GSK settings
(2)Automatic storage of tightening result
※Caution※
The SD card that GSK supports is up to "SDHC". Please note that it does not correspond to "SDXC" type.
(1) READING, SAVING AND WRITING GSK SETTINGS You can read and write settings written to GSK-IF from the setting software to the SD card.
By using the GSK display, you can read the setting data in the GSK-IF and store it in the SD card,
otherwise you can write the setting data in the SD card to the GSK-IF by operating the GSK display.
When reading and writing to the SD card with the setting software, please select setup reading
and setting writing according to the application from the main menu of the setting software.
By selecting the red frame in the lower right figure, it is saved in the PC with the extension ".SD"
that can be read and written on the GSK display.
In the lower left figure, read the configuration file with the extension ".SD"
from the storage medium (HDD, USB memory, SD card, etc.) connected to the PC running the setting software.
The name of the file read by the GSK display or the file saved to the personal computer is "SETTING.SD".
The following table shows the lighting state of the LED and the state of the SD card at that time.
State Explanation
LED2
Light OFF No SD card inserted
Lit green SD card inserted (idling)
Blinking
green SD card inserted (accessing)
Lit red SD card inserted in write-protected state
Blinking
red
SD card access error occurred or waiting for removal and insertion
of SD card after saving (GSK-IF ⇒ SD)
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(2) AUTOMATIC STORAGE OF TIGHTENING RESULT The tightening result when operating automatically, is received at any time from GSK interface and the data is preserved
in a "HISTORY.CSV" file.
・SAVE.INI file
When this automatic preservation is performed with multi-axis tightening, it may take too much time
to store all the waveform data.
In that case, setting "SAVE.INI" file in the SD card makes it possible to shorten the writing time
by reducing the amount of data to be written to the "HISTORY.CSV" file.
The following table shows the setting in this configuration file.
Items Explanation Setting contents
[HISTORY]
Type
It sets the saving pattern
of the tightening history.
Please select the setting contents
from the right column.
0: Don’t save
1: Save only the tightening result
2: Save tightening result
+ save waveform
3: Save the tightening result
+ save waveform when NG
MaxWave
It sets the number of sampling
in one waveform.
It takes 0.01 seconds per sampling.
Therefore, the maximum time
of the waveform to be saved
with this setting is determined.
Waveforms exceeding this setting
are not saved.
Please specify a value
in the range from 1 to 2048.
※The smaller the value,
that isthe shorter the write time.
[LOG] LogType It sets whether to write the operation record
of the program.
0:Don’t write
1:Write
If the "SAVE.INI" file does not exist in the SD card, it will be saved with the following settings.
TYPE = 2
MaxWave = 2048
LogType = 0
118
・HISTORY.CSV
When the SD card is inserted into the slot of the GSK-IF, the tightening result is written to the SD card.
"HISTORY.CSV" is the file which the tightening result is written at this time.
The file name actually saved is "0000_his.CSV".
Below is a description of the number in the above figure.
①: This is the title of the history. "Result" is fixed.
The data etc. read by the support system are not shown in this notation, please use it to distinguish.
②: The details of the tightening result are shown.
The result data is saved in the same format as "Online" of the setting software.
③: Sampling data which used for waveform image creation is recorded.
It records torque, angle, rotation speed every 10 msec.
About 1000 items can be saved in this file (※).
If it is over, it names the current history file by date and time and it saves the result to a new history file.
Please refer to the table below for name change.
Order Contents String
1st and 2nd
Character Renamed date 01~31
3rd and 4th
Character Renamed hours 00~23
5th and 6th
Character Renamed minutes 00~59
7th Character Renamed second (10 of digits) 0~5
8th Character Renamed month 1~9,A(October),B(1November)
,C(December)
(Example: When splitting at 23:50:35 on October 3 ⇒ "0323503 A. CVS")
If a file with the same name already exists, it delete the existing file and it rename the current file.
①
② ②
③
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Predictive maintenance function ①Outline of Predictive Maintenance
The predictive maintenance function is a function to urge early exchange and maintenance
by notifying before the GSK Nutrunner system fails.
This function prevents occurrence of breakdown on the manufacturing line.
Controller electronic
component life warning
This function warns the parts life of the GSK system (GSKIF / GSK driver).
Warning will be issued when parts life comes close,
such as electrolytic capacitors and relays.
Warnings can not be reset without replacement work.
Nutrunner failure
prediction warning
This function is a warning that occurs according to the state of the nut runner,
such as overload.
Warnings are cleared by turning off the power or resetting.
Flow to alarm notification The GSK system possesses a predictive maintenance function for warning of electrical parts life warning
and protection warning.
The following shows the flow until a warning is notified.
1. Each driver notifies the current state to the GSK I / F
2. When the GSK I/F judges that a warning has occurred, it turns on the protection warning or Lifetime warning bit of the
IO output signal.
GSK-IF
GSK controller
GSK controller
GSK controller
PC Display
Warning
status
condition
condition
condition
Warning judgment
It displays warning details.
It resets the warning.
It displays warning details. It resets warning.
PLC
It detects presence
or absence of warning
(Output signal)
Warning status notification
120
②GSK controller Electronic component lifetime warning
If even one of the following warning conditions occurs, the output signal
to the PLC "warning of electrical component life warning" turns ON.
The warning level in the table is the initial value and so it is possible
to change from 7 segment monitor.
If warning level is set to 0, warning judgment is not performed.
Driver's electrolytic capacitor lifetime warning
Warning content Lifetime warning of electrolytic capacitor mounted on GSK drive
Warning level 4 years (lifespan: 5 years)
Determination
method
We write the date of manufacture when manufacturing the GSK driver.
The GSK I / F compares the manufacture date of each driver
with the current date and It judges whether it exceeds the warning level or not.
※However, if the date of manufacture is all 0, it will not be checked.
Warning Reset That is impossible.
Driver's relay lifetime warning
Warning content Lifetime warning of the drive power-on relay mounted on the GSK drive
Warning level 80 thousand times (lifespan 100 thousand times)
Determination
method
It clears the relay operation count to 0 when manufacturing the GSK driver.
The GSK controller increments this count by 1 each time the relay is moved.
The GSK I / F checks the number of relay operations of each driver
and it judges whether it exceeds the warning level or not.
Warning Reset That is impossible.
Driver's EEPROM lifetime warning
Warning content Lifetime warning of EEPROM rewriting installed in the GSK drive
Warning level 800 thousand times (lifespan 1 million times)
Determination
method
It clears the EEPROM write count to 0 when manufacturing the GSK driver.
The GSK driver increments this number
by 1 each time EEPROM rewrite is performed.
GSKIF checks the EEPROM write count of each driver and it judges
whether it exceeds the warning level or not.
Warning Reset That is impossible.
Interface battery warning
Warning content Lifetime warning for batteries implemented in GSK-IF
Warning level 4 years (lifespan: 5 years)
Determination
method
We write all 0 “00/0/0” as the battery replacement date at GSK-IF manufacture.
We write the battery replacement date when connecting the battery
to the GSK driver.
GSK-IF compares the battery replacement date with the current date
and it checks whether it exceeds the warning level or not.
※However, when the date of manufacture is all 0, it does not check.
Warning Reset We set the battery replacement time by PC operation.
* Since the date is likely to be out of order, we set the exchange time
on the calendar IC of GSK-IF.
Driver amplifier battery warning
Warning content Lifetime warning about battery installed in GSK driver
Warning level 1.5 years (2 years life)
Determination
method
We write all 0 “00/0/0” as battery replacement date at GSK driver manufacture
We write the battery replacement date from the PC when connecting the battery
to the GSK driver.
GSKIF compares the battery replacement date of driver with the current date
to check whether it exceeds the warning level or not.
※However, when the date of manufacture is all 0, it does not check.
Warning Reset We set the battery replacement time by PC operation.
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③Nut runner failure prediction warning If any of the following warning conditions occur, the output signal "protection warning" will turn ON.
The warning level in the table is the initial value and can be changed by the personal computer.
When the warning level is 0, warning judgment is not performed
Driver overload warning
Warning
content
The load current of the GSK driver exceeds a certain value.
Judgment
target
Overload alarm level (percentage of alarm level)
Warning level 0%
Determination
method
The GSK driver notifies the GSK I/F of the overload alarm level of the motor.
GSK I/F checks whether the judgment value has exceeded
the warning level and exceeded.
Warning Reset Warnings can be reset by computer operation.
It resets when turning off the power of GSK I/F.
Driver over regenerative warning
Warning
content
The load current of the GSK driver exceeds a certain value.
Judgment
target
Over regenerative alarm level (percentage of alarm level)
Warning level 0%
Determination
method
The GSK driver notifies the GSK I/F of the over regenerative alarm level of
the motor.
GSK I/F checks whether the judgment value has exceeded
the warning level and exceeded.
Warning Reset Warnings can be reset by computer operation.
It resets when turning off the power of GSK I/F.
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Notes on input / output communication
1.Program selection
When selecting a program, the number to be selected must be within the range of 1 to the selected maximum value.
If the program number is 0 or more than the set maximum value, it will cause ALCO (program not selected NG).
2.Judgment reset
Judgment reset is not accepted except during general judgment output after program termination.
In order to prevent double tightening, a judgment reset input is always required after the program ends.
(general judgment output)
3.Inching start
Program selection is required to perform Inching start.
This operation is performed at the rotation speed and rotation direction of the SOC.T setting which number is same
as the selected program number.
Do not enter inching start during program operation. It may cause a malfunction.
4.Alarm reset
Alarm reset input is valid only when an alarm occurs.
5.In signal
Effective only when IN is set in the program setting.
If IN setting is performed in the program, make sure to enter IN because the program waits
for the input of IN after the program execution until the previous step before the IN is set.
Do not input the inching start and alarm reset. It may cause malfunction.
6.Auto/Each selection
Auto selection: Only the start input is accepted.
Do not turn OFF the start signal input until the total determination is output.
Doing so causes “FFFF” NG.
This is the interruption NG of the program while running.
Each selection: Only the inching start input is accepted.
When the input signal is turned OFF after inching started, it becomes to wait for the inching start
and only operates when the inching star is turned ON.
7. GSK reset (ALL reset)
When GSK reset is input, make sure to input from the program selection because all steps return to the initial status.
8. Program bit selection
Program bit selection allows you to select the program number by combining the program bit.
9.Program setting
The program can set ratings and axis numbers for each block and each axis.
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Precautions to read history Make sure to give sufficient reading time to read the history data.
(In the case of communication speed at 19200 Bps, about 4 minutes of reading time is needed per axis.)
☆Setting possible・not possible items
Item Manual
input
Input from
setup soft
Driver parametor
internal setting
○ ×
RATE. SET ○ ○
SOC. T. SET ○ ○
PRE. T. SET ○ ○
REV. T. SET ○ ○
REA. T. SET ○ ○
AXIS ARRANGE SET × ○
PROGRAM SET × ○
AXIS CUT INPUT ○ ○
ID OUTPUT SET ○ ○
M-NETSTARTED ADDRESS ○ ○
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☆About connection setting of ID controller 1.Outline
Connecting the interface unit with ID controller by serial communication (RS422),
transfer of engine number, setting of the calendar and transmission of result data become possible.
2.Secification of communication
Communication method :RS422
Communication speed:9600bps
Start bit:1
Stop bit:1
Parity: non
Transmission start character:’#’(23H)
Transmission finish character:CR(0DH)
Transmission character:ASCII code
3.Ressive format(ID controller → Interface unit)
Ressive of engine number.
#[Engine number]CR Engine number should be maximum 7 figures by decimal numeral.
Data transmit demand or Specify of unit to send the data.
#U[n]CR Unit No. specified(n = 1 to 6)
Setting of callendar
#C[Callendar]CR Callendar setting(year, month, date, hour, minute each 2 figures)
4.Transmission format (Interface unit → ID controller)
(1)Standard specification setting(1st figure = 1 of fn12 no.2)
#[Date and time][Judge][Axis No.][Program No.][Unit No.][Torque][Time][Angle ][Gradient]
[Engine No.]CR
[Date and time]=01/12/29△15:59 (14letters) △ means blank(20H)
[Each axis judgement]=0000(OK) or NG code (4letters)
[Axis no.]=01 to 30 (2 letters)
[Program no.]=01 to 24 (2 letters)
[Unit no.]=1 to 6 (1 letter)
[Torque]=123.4 (Number of letters is according to the parametter)
[Time]=12.34 (Number of letters is according to the parametter)
[Gradient]=99.9 (Number of letters is according to the parametter)
[Engine no.]=1234567 (Number of letters is according to the parametter)
(2)Tspecification with Torque(1st figure = 1 of fn12 no.2)
#[1st axis torque][1st axis judgement][2nd axis torqur][2nd axis judgement]
・・・[n axis torque][n axis judgement]CR
[Each axis torque]=123.4 (Number of letters is according to the parameter)
[Each axis judgement]=2 (1=NG 2=OK)
(3)T specification without torque(fn1st figure = 3 of fn 12 no.2)
#[1st axis torque][1st axis judgement][2nd axis torqur][2nd axis judgement]
・・・[n axis torque][n axis judgement]CR
[Each axis torque]=△△△ (Number of letters is according to the parametter)△ means blank(20H)
[Each axis judgement]=2 (1=NG 2=OK)
Part of torque data always outputs zero.
(4)J specifications(fn1st figure = 4 of fn12 no.2)
#[Date and time][Program no.][Unit no.][Engine no.]
[Axis no.(01)][1st axis torque][1st axis time][1st axis angle][1st angle gradient][1st axis judgement]
[Axis no.(02)][2nd axis torque][2nd axis time]・・・[n axix gradient][n axis judgement]CR
[Date and time]= 01/12/29△15:59 (14 letters)△ means blank(20H)
[Program no.]=01 to 24 (2 letters)
[Unit no.]=1 to 6 (1 letter)
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[Engine no.]=1234567 (Number of letters is according to the parametter)
[Axis no.]=01 to 30 (2 letters)
[Torque]=123.4 (Number of letters is according to the parametter)
[Time]=12.34 (Number of letters is according to the parametter)
[Gradient]=99.9 (Number of letters is according to the parametter)
[Each axis judgement]=0000(OK) or NG code (4 letters)
Select with condition of starting transmission
It is possible to set timing of the transmission from the interface unit by the parameter.
Timing is able to be selected from one of followins;
・Data transmission at the time of the block judgement output
・Data transmission at the time of starting next block and judgement reset input.
・Data transmission according to the request of data transmission from the upper
5.Selecting transmission data
It is possible to set each data to be transmitted or not to be transmitted, specifying figure number,
with or without decimal point to the parameter if necessary.
If there are some items which are not transmitted, the following items are transmitted shortening the items not
to be transmitted.
6.Transmission of torque, time, angle data based on the kinds of operation
Transmission of torque data,time data and angle data, data of only one kind of operation is transmitted
even if many kinds of operation such as pretightening, real tightening, etc. are carried out
within the same block.
Selection with kinds of operation is effected automatically basing on the following order of priority.
When the operation with higher priority is not carried out, it select the operation of following order of priority.
In case of carrying out same kind of operation more than two times within the same block,
the last operation is selected.
Order of priority (high) 1:Real tightening
2:Reverse tightening
3:Pretightening
(low) 4:Socket fitting
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About setting
1.Installation
GSK-14. GSKW-14, GSK-T4 and GSKW-T4 have no diference about standard specifications and T specifications,
so the installation method is the same.
Also, unlike other controllers, there is no additional action required for installation.
When installing all GSK units, install a cooler or fan so that the temperature inside the panel to be installed the units
will be 50 ° C or less.
1-1.standard specifications
The standard specification controllers GSK-15, GSK-17, and GSKW-15 have fins or fans on the side for exhaust heat.
Please install at least 10 mm apart between controllers for the exhaust heat of this fin or fan.
1-2.T specification
The controllers GSK-T5, GSK-T7 and GSKW-T5 of the T specification have fins for exhaust heat on the back.
A fan must be installed in the control panel to dissipate the heat from the fins.
Please confirm the contents of the following and install it.
1-2-1.About the air volume of the heat radiation fan
Heat dissipation requires an air flow of at least 0.6 m^3 / min per controller.
If one fan is attached for two controllers, the air volume is more than double.
Moreover, in the case of 3 controllers, it is not recommended because the wind disperses.。
1-2-2.Installation method
First, install the fan within 150 mm below the controller.
And please spray from bottom to top.
If the distance is 150 mm or more, please take measures such as increasing the air volume
or preventing the wind from escaping.
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Change log Rev Data Contents of change Note
First 2019/4 ― ―
2nd 2019/6
Output signal added
・ SD card warning
・ Driver ready
・ Warning
Motor power cable specification clearly stated
IF
Ver7010~
3rd 2019/9
6-1.Adding operations to explain
7-2.Adding parameters to be described
10-2-3. Changing the alarm description
4th 2019/9
3-5. Noise countermeasure added
5th 2020/1 E64 Added items of causes and countermeasures
6th 202/1 Predictive maintenance function typo correction
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memo
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技研工業株式会社 ■HeadOffice
97-8, Imago-cho Yamatokoriyama, Nara, 639-1031
TEL:+81-743-59-3730
E-Mail(Sales engineering department):[email protected]
E-Mail(Control engineering section):[email protected]
■Nagoya Branch Office
1202, Kumada, Nagakute, Aichi, 480-1144
TEL:+81-561-63-5321
E-Mail:nagoya@ gikenkogyo.com
■Kanto Branch Office
1-2-15, Matoba, Kawagoe-city, Saitama, 350-1101
TEL:+81-49-298-4755
E-Mail:kanto@ gikenkogyo.com
6th edition:Jan.2020